5. Tutucular (sf 371-416

Transcript

Gripper RCP2 ROBOType Cylinder / Rotary Type Gripper Type / Rotary Type RCP2 RCS2 RCP2-GRSS RCP2-GRLS RCP2-GRS RCP2-GRM RCP2-GRHM RCP2-GRHB RCP2-GR3LS RCP2-GR3SS RCP2RTBS/RTBSL RCP2RTB/RTBL RCP2RTBB/RTBBL RCS2-RTC10L RCS2-RTC12L RCS2RTC8L/RTC8HL 371 Gripper Type / Rotary Type RCP2RTCS/RTCSL RCS2-RT6 RCP2-GRST RCS2-GR8 RCP2RTC/RTCL RCP2RTCB/RTCBL Gripper Type / Rotary RCP2 Type ROBO Cylinder 2-Finger Gripper RCP2 Pulse Motor Type 3-Finger Gripper Medium High-force Gripper Large High-force Gripper Lever Type Slider Type 373 375 377 379 381 190mm Width 116mm Width 131mm Width 62mm Width 80mm Width 62mm Width 80mm Width RCP2-GRHM RCP2-GRHB RCP2-GR3LS RCP2-GR3LM RCP2-GR3SS RCP2-GR3SM 383 385 387 389 391 393 2-Finger Gripper Long Stroke Slider Type 104mm Width RCS2-GR8 395 ~ RCS2 RCP2-GRSS RCP2-GRLS RCP2-GRS RCP2-GRM RCP2-GRST 42mm Width 42mm Width 69mm Width 74mm Width 130mm Width ~ series Mini Slider Type Mini Lever Type Small Slider Type Medium Slider Type Long Stroke Slider Type series Rotary Pulse Motor Type series 200V Servo Motor Type Standard Controllers Integrated Rod Type Mini Standard Controllers Integrated Mini series RCS2 Mini Table/ Arm/ Flat Type 284mm Width 200V Servo Motor Type RCP2 Slider Type Hollow Rotary Rotary Small Vertical Type Small Flat Type Medium Vertical Type Medium Flat Type Large Vertical Type Large Flat Type 45mm Width 72mm Width 50mm Width 88mm Width 76mm Width 124mm Width RCP2-RTBS/RTBSL RCP2-RTCS/RTCSL RCP2-RTB/RTBL RCP2-RTC/RTCL RCP2-RTBB/RTBBL RCP2-RTCB/RTCBL 397 399 401 403 405 407 Small Type Medium Type Large Type Straight Motor Type 85mm Width 99mm Width 123mm Width 64mm Width RCS2-RTC8L/RTC8HL RCS2-RTC10L RCS2-RTC12L RCS2-RT6 409 411 413 415 Standard Gripper/ Rotary Type Linear Servo Type Cleanroom Type SplashProof Type Pulse Motor Servo Motor (24V) Servo Motor (200V) Linear Servo Motor Gripper Type / Rotary Type 372 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GRSS Model Specification Items RCP2 Series GRSS ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 42mm, Pulse Motor I Type Encoder type 20P Motor type 30 8 Deceleration Ratio Stroke I: Incremental 20P: Pulse motor, 30 :1/30 8: 8mm deceleration (4mm per side) * T he Simple absolute 20  size ratio encoder is also considered type "I". * See page Pre-47 for details on the model descriptions. Applicable controller Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP N: None Options NM: Non-motor end FB: Flange bracket SB: Shaft bracket P: 1m S: 3m M: 5m X: Custom Length „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. Standard L1 Controllers Integrated Table/ Arm/ Flat Type L2 * Operate with the L1 distance up to 40mm. * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers. Mini Standard 16 Gripper/ Rotary Type Gripping force (N) 14 Appendix P.5 Linear Servo Type SplashProof Type 8 6 4 2 0 (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G. Cleanroom Type 12 10 0 10 20 30 40 50 Current Limit (% ratio) * Please note that, when gripping (pushing), the speed is fixed at 5mm/s. Actuator Specifications „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) RCP2-GRSS-I-20P-30-8- ➀ - ➁ - ➂ 30 14 (7 per side) Stroke Stroke (mm) 8 (4 per side) Stroke 8 (mm) Deceleration ratio 78 (per side) 30 (Unit: mm/s) Cable Length Stroke (mm) Standard price 8 — Type Standard (Robot Cables) Special length Servo Motor (24V) Servo Motor (200V) 70 * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options Pulse Motor 60 Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) Standard price — — — — — — * The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance. Actuator Specifications  Options Name Non-motor end specification Flange bracket Shaft bracket Linear Servo Motor 373 RCP2-GRSS Option code NM FB SB See page ➝ A-52 ➝ A-43 ➝ A-55 Standard price — — — Item Description Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity Worm gear + helical gear + helical rack ±0.01mm 0.2mm or less per side (constantly pressed out by a spring) 0.05mm or less per side Linear guide Ma: 0.5 N·m, Mb: 0.5 N·m, Mc: 1.5 N·m 0.2kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. 2D CAD Appendix P.15 *The opening side of the slider is the home position. (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables. Slider Type Mini Standard Controllers Integrated 2-ø3 +0.03 depth 3 0 17 (same for opposite side) Rod Type 17 8.5 8-M3 dapth 5 4 43 Mini (same for opposite side) Cable joint connector*1 Standard 2-3 +0.05 depth 3 0 Controllers Integrated 24 2-ø3h7 ( - 0.010 ) 71 (same for opposite side) 0 1.5 Table/ Arm/ Flat Type 9 ø3 +0.03 depth 3 0 Standard 34 35 Gripper/ Rotary Type 17 MAX 13.5 MIN 5.5 0 4 8.5 47 9 - 0.05 8-M3 depth 5 4 13.9 Mini 2 4.2 5 42 2-M3 depth 4 2-ø3 +0.03 depth 3 0 Secure at least 100 (same for opposite side) 4-M3 depth 5 (same for opposite side) 2-3 +0.05 0 Linear Servo Type 3 +0.05 depth 3 0 depth 3 (same for opposite side) Cleanroom Type Weight (kg) 0.2 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-20PI- -2- Easy-to-use controller, even for beginners PSEP-C-20PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-20PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-20PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-20PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-20PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-20PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-20PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GRSS — Servo Motor (200V) ➝ P665 Linear Servo Motor 374 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GRLS RCP2 Model Specification Items Series GRLS ROBO Cylinder, 2-Finger Gripper, Mini Lever Type, Actuator Width 42mm, Pulse Motor I Type Encoder type 20P Motor type 30 180 Deceleration Ratio Stroke I: Incremental 20P: Pulse motor, 30: 1/30 deceleration * T he Simple absolute 20  size ratio encoder is also considered type "I". 180: 180 degrees (90 degrees per side) * See page Pre-47 for details on the model descriptions. Applicable controller Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP N: None Options NM: Non-motor end FB: Flange bracket SB: Shaft bracket P: 1m S: 3m M: 5m X: Custom Length „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. * The gripping force of the graph below is measured on the top face of the lever. The actual gripping force drops in inverse proportion to the distance from the opening/closing fulcrum. Calculate the effective gripping force using the formula below. * Operate with the L distance up to 40mm. Effective gripping force (GRLS ) = F x 15.5/ (L + 15.5) Standard L Controllers Integrated Table/ Arm/ Flat Type Mini * In the graph below, the gripping force value is the sum of gripping forces of both fingers. Standard 7 Gripper/ Rotary Type Gripping force (N) 6 Appendix P.5 Linear Servo Type (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G. Cleanroom Type SplashProof Type 5 4 3 2 1 0 0 10 20 30 40 50 Current Limit (% ratio) * Please note that, when gripping (pushing), the speed is fixed at 5 degrees/s. Actuator Specifications „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) RCP2-GRLS-I-20P-30-180- ➀ - ➁ - ➂ 30 6.4 (3.2 per side) Stroke Stroke (deg) 180 (90 per side) Stroke 180 (deg) Deceleration ratio 600 (per side) 30 (Unit: degree/s) Cable Length Stroke (deg) Standard price 180 — Type Standard (Robot Cables) Special length Servo Motor (24V) Servo Motor (200V) 70 * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options Pulse Motor 60 Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) Standard price — — — — — — * The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance. Actuator Specifications  Options Name Non-motor end specification Flange bracket Shaft bracket Linear Servo Motor 375 RCP2-GRLS Option code NM FB SB See page ➝ A-52 ➝ A-43 ➝ A-55 Standard price — — — Item Description Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity Worm gear + helical gear ±0.01deg. 1 degree or less per side (constantly pressed out by a spring) 1 degree or less — — 0.2kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD www.intelligentactuator.com Appendix P.15 *The opening side of the slider is the home position. (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables. 2-ø3 +0.03 depth 3 0 Slider Type Mini Standard (same for opposite side) 17 24 Controllers Integrated 4 8-M3 depth 5 17 (same for opposite side) Rod Type Cable joint connector*1 2-3 +0.05 depth 3 0 45 (same for opposite side) 2-ø3 +0.03 depth 3 0 (same for opposite side) 4-M4 through Standard Secure at least 100 2-ø4 +0.03 depth 2.5 0 Mini 9 Controllers Integrated ø3 +0.03 depth 3 0 35 MAX 180º MIN 0º Mini 34 17 8.5 Standard 4 18 9 42 Table/ Arm/ Flat Type 4 9 18 2-3 +0.05 depth 3 0 36 15.5 4-M3 depth 5 8-M3 depth 5 (same for opposite side) Gripper/ Rotary Type 3 +0.05 depth 3 0 49 (same for opposite side) 73 66.5 Linear Servo Type 55 Cleanroom Type Weight (kg) 0.2 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-20PI- -2- Easy-to-use controller, even for beginners PSEP-C-20PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-20PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-20PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-20PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-20PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-20PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-20PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 — ➝ P665 Linear Servo Motor indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GRLS Servo Motor (200V) 376 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GRS Model Specification Items RCP2 Series GRS ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 69mm, Pulse Motor I Type Encoder type 20P Motor type 1 10 Deceleration Ratio Stroke I: Incremental 20P: Pulse motor, 1 : 1/1 10: 10mm deceleration (5mm per side) * T he Simple absolute 20  size ratio encoder is also considered type "I". * See page Pre-47 for details on the model descriptions. Applicable controller Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP N: None Options SB: Shaft bracket FB: Flange bracket P: 1m S: 3m M: 5m X: Custom Length R: Robot cable „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. Standard L1 Controllers Integrated Table/ Arm/ Flat Type * Operate with the L1 distance up to 50mm. L2 * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers. Mini 35 Standard Gripper/ Rotary Type Appendix P.5 Linear Servo Type 25 20 15 10 5 0 0 (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G. Cleanroom Type SplashProof Type Gripping force (N) 30 10 20 30 40 50 Current Limit (% ratio) 70 * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. * Please note that, when gripping (pushing), the speed is fixed at 5mm/s. Actuator Specifications „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) Stroke (mm) 1 21 (10.5 per side) 10 (5 per side) RCP2-GRS-I-20P-1-10- ➀ - ➁ - ➂ Stroke Deceleration ratio 1 10 (mm) 33.3 (per side) Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options Stroke (Unit: mm/s) Cable Length Stroke (mm) Standard price 10 — Type Standard Pulse Motor Special length Robot Cable Servo Motor (24V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) 60 Name Option code FB SB Flange bracket Shaft bracket Linear Servo Motor 377 RCP2-GRS See page ➝ A-43 ➝ A-55 Standard price — — Item Description Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity Timing belt + trapezoidal screw (1.5 lead) ±0.01mm 0.15mm or less per side (constantly pressed out by a spring) 0.1mm or less per side Cross roller guide Ma: 6.3 N·m, Mb: 6.3 N·m, Mc: 7.0 N·m 0.36kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. 2D CAD Appendix P.15 *The opening side of the slider is the home position. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. Slider Type Mini Standard Controllers Integrated 30 29 Cable joint connector*1 Rod Type 2-ø3 +0.03 0 depth 2.5 Mini 21 24 Table/ Arm/ Flat Type 69 4 MAX 11 MIN 1 Controllers Integrated 4-M4 depth 6 ø3 +0.03 depth 2.5 0 21 4 +0.03 0 7 24 9 4-M4 depth 7 (same for opposite side) 1.5 Standard 28 3 +0.05 depth 2.5 0 24 2-M4 depth 8 36 0 10 - 0.05 Secure at least 100 (same for opposite side) 5 Mini Standard 2-3 +0.05 depth 2.5 0 (same for opposite side) 3 Gripper/ Rotary Type 68 71 Linear Servo Type Note: The holes in the slider shown above, other than tapped holes, are used to install the slider onto the actuator. They cannot be used as finger positioning holes. Use the key slots to position the fingers. Cleanroom Type Weight (kg) 0.36 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-20PI- -2- Easy-to-use controller, even for beginners PSEP-C-20PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-20PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-20PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-20PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-20PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-20PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-20PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 — ➝ P665 Linear Servo Motor indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GRS Servo Motor (200V) 378 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GRM Model Specification Items RCP2 Series GRM ROBO Cylinder, 2-Finger Gripper, Medium Slider Type, Actuator Width 74mm, Pulse Motor I Type Encoder type 28P Motor type 1 14 Deceleration Ratio Stroke I: Incremental 28P: Pulse motor, 1 : 1/1 14: 14mm deceleration (7mm per side) * The Simple absolute 28  size ratio encoder is also considered type "I". * See page Pre-47 for details on the model descriptions. Applicable controller Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP N: None Options SB: Shaft bracket FB: Flange bracket P: 1m S: 3m M: 5m X: Custom Length R: Robot cable „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. Standard L1 Controllers Integrated Table/ Arm/ Flat Type * Operate with the L1 distance up to 80mm. L2 * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers. Mini Standard 140 Gripper/ Rotary Type Appendix P.5 Linear Servo Type 100 80 60 40 20 0 0 (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G. Cleanroom Type SplashProof Type Gripping force (N) 120 10 20 30 40 50 Current Limit (% ratio) 70 * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. * Please note that, when gripping (pushing), the speed is fixed at 5mm/s. Actuator Specifications „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) Stroke (mm) 1 80 (40 per side) 14 (7 per side) RCP2-GRM-I-28P-1-14- ➀ - ➁ - ➂ Stroke Deceleration ratio 1 14 (mm) 36.7 (per side) Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options Stroke (Unit: mm/s) Cable Length Stroke (mm) 14 Type Standard price Standard — Pulse Motor Special length Robot Cable Servo Motor (24V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) 60 Name Option code FB SB Flange bracket Shaft bracket Linear Servo Motor 379 RCP2-GRM See page ➝ A-43 ➝ A-55 Standard price — — Item Description Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity Timing belt + trapezoidal screw (1.5 lead) ±0.01mm 0.15mm or less per side (constantly pressed out by a spring) 0.1mm or less per side Cross roller guide Ma: 6.3 N·m, Mb: 6.3 N·m, Mc: 8.3 N·m 0.5kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. 2D CAD Appendix P.15 *The opening side of the slider is the home position. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. Slider Type Mini Standard 35 36 Controllers Integrated Rod Type Cable joint connector*1 Mini 2-ø3 +0.03 depth 2.5 0 25 4-M4 depth 8 (same for opposite side) 22 Controllers Integrated 24 4-M4 depth 6 ø3 +0.03 depth 2.5 0 24 Table/ Arm/ Flat Type Mini 74 4 MAX 15 MIN 1 25 7 11.5 5 +0.03 0 1.5 Standard 28 3 +0.05 depth 2.5 0 2-M5 depth 8 36 0 12 - 0.05 Secure at least 100 (same for opposite side) 5 Standard Gripper/ Rotary Type 2-3 +0.05 depth 2.5 0 (same for opposite side) 3 76 79 Linear Servo Type Note: The holes in the slider shown above, other than tapped holes, are used to install the slider onto the actuator. They cannot be used as finger positioning holes. Use the key slots to position the fingers. Cleanroom Type Weight (kg) 0.5 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-28PI- -2- Easy-to-use controller, even for beginners PSEP-C-28PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-28PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-28PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-28PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-28PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-28PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-28PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 — ➝ P665 Linear Servo Motor indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GRM Servo Motor (200V) 380 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GRST Model Specification Items RCP2 Series GRST ROBO Cylinder, 2-Finger Gripper, Long Stroke Slide Type, Actuator Width 130~190mm, Pulse Motor I Type Encoder type 20P Motor type Deceleration Ratio Stroke I: Incremental 20P: Pulse motor, 1: 1/1 deceleration ratio * T he Simple absolute 20  size High-Speed Type encoder is also 2: 1/2 deceleration considered type "I". ratio Standard Type * See page Pre-47 for details on the model descriptions. 40 : 40mm 60 : 60mm 80 : 80mm 100 : 100mm Applicable controller Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP Options N: None See Options below. P: 1m * Be sure to specify the S: 3m side from which you M: 5m X: Custom want the cable to exit Length (A0 or A1). „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. Standard L1 Controllers Integrated Table/ Arm/ Flat Type L2 * Operate with the L1 distance up to 60mm. * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers. Mini Gripper/ Rotary Type Appendix P.5 Linear Servo Type (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G. Cleanroom Type SplashProof Type Gripping force (N) Standard 45 40 35 30 25 20 15 10 5 0 0 Standard High-Speed Type 10 20 30 40 50 60 70 80 Current Limit (% ratio) * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. * Please note that, when gripping (pushing), the speed is fixed at 5mm/s. Actuator Specifications „„Leads and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio RCP2-GRST-I-20P-1- ➀ - ➁ - ➂ - ➃ 1 RCP2-GRST-I-20P-2- ➀ - ➁ - ➂ - ➃ 2 Maximum Gripping Force (N) 20 (10 per side) 40 (20 per side) Stroke Stroke (mm) Deceleration ratio 40~100 (every 20mm ) 40~100 (mm) 1 75 2 34 Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options Stroke Pulse Motor Servo Motor (24V) Servo Motor (200V) (Unit: mm/s) Cable Length Stroke (mm) 40 60 80 100 Type Standard price Standard (Robot Cables) — — — — Special length Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) Standard price — — — — — — * The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance. Actuator Specifications  Options Name Non-motor end specification Cable exiting from bottom Cable exiting from side Option code NM A0 A1 See page ➝ A-52 ➝ A-41 ➝ A-41 Standard price — — — *Be sure to specify the side from which you want the cable to exit (A0 or A1). Linear Servo Motor 381 RCP2-GRST Item Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity Description Timing belt + worm/rack gear ±0.01mm 0.2mm or less per side — Linear guide Ma: 2.93 N·m, Mb: 2.93 N·m, Mc: 5.0 N·m 0.51kg (40-stroke) ~ 0.66kg (100-stroke) 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. Appendix P.15 4-M3 depth 5 19 Mini Standard Controllers Integrated 2.5 12±0.05 Rod Type 19 3 * The opening side of the slider is the home position. (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables. 12.5±0.05 2D CAD www.intelligentactuator.com Slider Type ø3 +0.03 depth 3 0 Mini L (0.5) M (0.5) N .5 C0 24 st 2− 6 st 33 10.5 24 .5 C0 2− 0 25 − 0.05 4 24.5 28 Cable exiting from side (Model: A1 12.5 21.5 28 4 40 60 (same for opposite side) ø3 depth 3 32 11 Standard ø3 +0.05 depth 3 0 4-M3 depth 5 Cable exit from bottom (Model: A0) 26 4 * The current position of the slider is the home position. M Table/ Arm/ Flat Type Mini N Gripper/ Rotary Type (210) +0.03 0 Secure at least 100 ø3 +0.05 depth 3 0 ø3 +0.03 depth 3 0 (same fo opposite side) 2-M4 depth 6 (same for opposite side) Controllers Integrated 53.5 25.5 Unlocking screw Standard Linear Servo Type Cable joint connector*1 60 „„Dimensions and Weight by Stroke Stroke L M N Weight (kg) 40 130 71.5 57.5 0.51 60 80 100 150 170 190 81.5 91.5 101.5 67.5 77.5 87.5 0.56 0.61 0.66 Cleanroom Type SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-20PI- -2- Easy-to-use controller, even for beginners PSEP-C-20PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-20PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-20PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-20PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-20PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-20PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-20PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 — ➝ P665 Linear Servo Motor indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GRST Servo Motor (200V) 382 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GRHM Model Specification Items RCP2 Series GRHM I Type Encoder type ROBO Cylinder, 2-Finger Gripper, Medium High-force Type, Actuator Width 116mm, 24V Pulse Motor 35P Motor type 2 32 Deceleration Ratio Stroke Applicable controller Cable length P1: PCON-PL/PO/SE 35P: Pulse motor, 2: Feed screw 32: 32mm lead 2 35 size (16mm per side) PSEL P3: PCON-CA PMEC/PSEP MSEP I: Incremental * See page Pre-47 for details on the model descriptions. N: None Options See Options below. P: 1m S: 3m M: 5m X: Custom Length „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. Standard L1 Controllers Integrated Table/ Arm/ Flat Type L2 * Operate with the L1 distance up to 90mm. * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers. Mini 140 Standard Gripper/ Rotary Type Appendix P.5 Linear Servo Type 100 80 60 40 20 0 0 (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G. Cleanroom Type SplashProof Type Gripping Force (N) 120 10 20 30 40 50 Current limit (% ratio) * Please note that, when gripping (pushing), the speed is fixed at 5mm/s. Actuator Specifications „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) RCP2-GRHM-I-35P-2-32- ➀ - ➁ - ➂ 2 125 (62.5 per side) Stroke Stroke (mm) 32 (16 per side) Stroke 32 (mm) Deceleration ratio 100 (per side) 2 (Unit: mm/s) ➁Cable Length Stroke (mm) Standard price 32 — Type Standard (Robot Cables) Pulse Motor Servo Motor (200V) 70 * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options Servo Motor (24V) 60 Special length Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) Standard price — — — — — — * The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance. Actuator Specifications ➂ Options Name Cable exit direction (top) Cable exit direction (right) Cable exit direction (left) Cable exit direction (bottom) Flange Bracket Shaft bracket Linear Servo Motor 383 RCP2-GRHM Option code CJT CJR CJL CJB FB SB See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-43 ➝ A-55 Standard price — — — — — — Item Description Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment (*) Weight Ambient operating temperature, humidity (*) Based on a 5,000km service life. Timing belt + trapezoidal screw (2 lead) ±0.01mm 0.2mm or less per side (constantly pressed out by a spring) 0.15mm or less per side Linear guide Ma: 11.7 N·m, Mb: 16.7 N·m, Mc: 46.5 N·m 1.14kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD www.intelligentactuator.com Appendix P.15 * Connect the motor-encoder integrated cable here. (See page A-59 for details on cables.) Slider Type Mini Standard Controllers Integrated 43 Cable Exit Direction (Optional) Home Table/ Arm/ Flat Type 3 102 105 61.9 oblong hole, depth (same on opposite side) 25 4 +0.012 0 3 43.1 56.5 27.6 Motor & Encoder Connection* *ME: Mechanical End 102 105 Bottom Left Mini 32 Standard Top Right 14.8 16.5 32 6 6 0.5(ME) 10 5 34.5 0.5 (ME) Controllers Integrated depth 5 ø4 +0.012 0 Home At least 100 or more Mini Standard 5 25 ST=16 25 50 116 10 58 28 6 40 60 ST=16 4-M5 depth 8 34 oblong hole, depth 5 4 +0.012 0 44 ø4 +0.012 depth 5 (same on opposite side) 0 2-M5 depth 10 (same on opposite side) 49.5 Home 18 34.5 36.5 30 18 34.5 0.5 (ME) 4-M4, depth 6 2-ø4 +0.012 depth 5 0 Rod Type Gripper/ Rotary Type At least 100 or more Linear Servo Type Cleanroom Type Weight (kg) 1.14 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-35PI- -2- Easy-to-use controller, even for beginners PSEP-C-35PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-35PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-35PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-35PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-35PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-35PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-35PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-35PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GRHM — Servo Motor (200V) ➝ P665 Linear Servo Motor 384 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GRHB Model Specification Items RCP2 Series GRHB I Type Encoder type ROBO Cylinder, 2-Finger Gripper, Large High-force Type, Actuator Width 131mm, 24V Pulse Motor 42P Motor type 2 40 Deceleration Ratio Stroke Applicable controller Cable length P1: PCON-PL/PO/SE 42P: Pulse motor, 2: Feed screw 40:40mm lead 2 42 size (20mm per side) PSEL P3: PCON-CA PMEC/PSEP MSEP I: Incremental * See page Pre-47 for details on the model descriptions. N: None Options See Options below. P: 1m S: 3m M: 5m X: Custom Length „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. Standard L1 Controllers Integrated Table/ Arm/ Flat Type * Operate with the L1 distance up to 90mm. L2 * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers. Mini 250 Gripper/ Rotary Type Appendix P.5 Linear Servo Type 200 150 100 50 0 0 (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G. Cleanroom Type SplashProof Type Gripping force (N) Standard 10 20 30 40 50 Current limit (% ratio) * Please note that, when gripping (pushing), the speed is fixed at 5mm/s. Actuator Specifications „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) RCP2-GRHB-I-42P-2-40- ➀ - ➁ - ➂ 2 200 (100 per side) Stroke Stroke (mm) 40 (20 per side) Stroke 40 (mm) Deceleration ratio 100 (per side) 2 (Unit: mm/s) ➁Cable Length Stroke (mm) Standard price 40 — Type Standard (Robot Cables) Pulse Motor Special length Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) Standard price — — — — — — * The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance. Servo Motor (24V) Actuator Specifications ➂ Options Linear Servo Motor 70 * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options Servo Motor (200V) 60 Name Cable exit direction top) Cable exit direction (right) Cable exit direction (left) Cable exit direction (bottom) Flange Bracket Shaft bracket 385 RCP2-GRHB Option code CJT CJR CJL CJB FB SB See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-43 ➝ A-55 Standard price — — — — — — Item Description Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment (*) Weight Ambient operating temperature, humidity (*) Based on a 5,000km service life. Timing belt + trapezoidal screw (2 lead) ±0.01mm 0.2mm or less per side (constantly pressed out by a spring) 0.15mm or less per side Linear guide Ma: 15.7 N·m, Mb: 26.4 N·m, Mc: 59.8 N·m 1.5kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD www.intelligentactuator.com Appendix P.15 * Connect the motor-encoder integrated cable here. (See page A-59 for details on cables.) Slider Type Mini Standard Controllers Integrated Mini depth 6 (same on opposite side) ø5 H7 +0.012 0 25 6 +0.012 0 depth 6 Home Standard 4 oblong hole, depth 6 (same on opposite side) 5 +0.012 0 3 54.6 115 118 69.5 32 Gripper/ Rotary Type 16.5 Left Bottom Top 32 27.6 Motor & Encoder Connection* *ME: Mechanical End Mini 0.5 (ME) 10 0.5 (ME) 6 115 118 63.4 Table/ Arm/ Flat Type Cable Exit Direction (Optional) ø5 H7 3 Controllers Integrated 5 +0.012 oblong hole, dept 6 0 50 131 25 65.5 10 0.5 (ME) 50 70 4 40 ST=20 At least 100 or more 4-M6 depth 10 30.5 4 ST=20 Home Standard 38 2-M6 depth 12 (same on opposite side) 25 50 Home 24 40 42 30 18 40 4-M4, depth 6 2-ø4 +0.012 depth 5 0 49 50 Rod Type Right 14.8 Linear Servo Type At least 100 or more Cleanroom Type Weight (kg) 1.5 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-42PI- -2- Easy-to-use controller, even for beginners PSEP-C-42PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-42PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-42PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-42PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-42PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-42PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-42PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-42PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GRHB — ➝ P665 386 Servo Motor (200V) Linear Servo Motor Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GR3LS RCP2 GR3LS Model Specification Items Series I Type Encoder type ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 62mm, Pulse Motor 28P Motor type 30 19 Deceleration Ratio Stroke 30 : 1/30 I: Incremental 28P: Pulse motor, 19: 19 degrees * The Simple absolute 28  size deceleration encoder is also ratio considered type "I". * See page Pre-47 for details on the model descriptions. Applicable controller Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP Options N: None FB: Flange bracket SB: Shaft bracket P: 1m S: 3m M: 5m X: Custom length R: Robot cable „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. L Standard * Please note that, when gripping (pushing), the speed is fixed at 5 deg/s. F Controllers Integrated * The values in the graph below are gripping forces at 10mm gripping point. The actual gripping force decreases inversely proportional to the distance from the opening/ F F closing point. You can calculate theF actual gripping force by the following equation. Actual gripping force (GR3LS) = P × 24 / (L + 14) P = Gripping force on graph L = Distance from finger mounting surface to the gripping point. (Operate with the L1 distance under 50mm.) Table/ Arm/ Flat Type Mini Standard 35 Gripper/ Rotary Type Appendix P.5 Linear Servo Type (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-86. (3) The rated acceleration while moving is 0.3G. Cleanroom Type SplashProof Type Gripping force P (N) 30 25 20 15 10 5 0 0 10 20 30 40 50 Current Limit (% ratio) 70 * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. Actuator Specifications „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) RCP2-GR3LS-I-28P-30-19- ➀ - ➁ - ➂ 30 18 (6 per side) Stroke (deg) 19 Stroke Deceleration ratio 30 19 (deg) 200 (Unit: degrees/s) Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options Stroke Cable Length Stroke (deg) Standard price 19 — Type Standard Pulse Motor Special length Robot Cable Servo Motor (24V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) 60 Name Option code FB SB Flange bracket Shaft bracket Linear Servo Motor 387 RCP2-GR3LS See page ➝ A-43 ➝ A-55 Standard price — — Item Description Drive System Positioning repeatability Backlash Lost motion Weight Ambient operating temperature, humidity Worm gear + worm wheel gear ±0.01 degrees 1degree or less per side (constantly pressed out by a spring) 0.15 degrees or less per side 0.6kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. 2D CAD Appendix P.15 * When homing, the actuator swings 1 degree past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. Slider Type Mini Standard Controllers Integrated Rod Type ø3 +0.05 0 10 +0.05 0 ø 57 0 - 0.05 ø 57 2-M3 8 7.5 3.5 Mini Standard Cable joint connector *1 2 8 0.5 Controllers Integrated Details of A Mounting surface M8 (effective depth 4) 10 50.5 62 31.5 16 Home 4- ø 4.5 84 48 2-ø3 +0.03 depth 3 0 (same for back side) (19) 1.5 Mounting surface 4-M5 depth 8 Secure at least 100 28 3-M4 (effective depth 6) Flange plug (set screw M4 x 5) Mini (same for back side) Standard 120 24 36 6 ø 45 12 Gripper/ Rotary Type 4 0 5° 9 6 ø59 - 0.05 48 62 ° 14° ° 120 ø 18 Mounting surface A (same for opposite side) Table/ Arm/ Flat Type ø7 depth 3 2-3 +0.05 0 6 (same for back side) 17.5 112 Linear Servo Type (129.5) Cleanroom Type Weight (kg) 0.6 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-28PI- -2- Easy-to-use controller, even for beginners PSEP-C-28PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-28PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-28PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-28PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-28PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-28PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-28PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 — ➝ P665 Linear Servo Motor indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GR3LS Servo Motor (200V) 388 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GR3LM RCP2 GR3LM Model Specification Items Series I Type Encoder type ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 80mm, Pulse Motor 42P Motor type 30 19 Deceleration Ratio Stroke 30 : 1/30 I: Incremental 42P: Pulse motor, 19: 19 degrees * The Simple absolute 42 size deceleration encoder is also ratio considered type "I". * See page Pre-47 for details on the model descriptions. Applicable controller Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP FB: Flange bracket SB: Shaft bracket P: 1m S: 3m M: 5m X: Custom length R: Robot cable „„Gripping Force Adjustment The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. Standard * Please note that, when gripping (pushing), the speed is fixed at 5 deg/s. L F Controllers Integrated * The values in the graph below are gripping forces at 10mm gripping point. The actual gripping force decreases inversely proportional to the distance from the opening/ F F closing point. You can calculate the actual gripping force by the following F equation. Actual gripping force (GR3LM) = P × 28.5 / (L + 18.5) P = Gripping force on graph L = Distance from finger mounting surface to the gripping point. (Operate with the L distance up to 80mm.) Table/ Arm/ Flat Type Mini Standard 70 Gripper/ Rotary Type Appendix Linear Servo Type (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-86. (3) The rated acceleration while moving is 0.3G. Cleanroom Type Gripping force P (N) 60 P.5 SplashProof Type Options N: None 50 40 30 20 10 0 0 10 20 30 40 50 60 70 Current Limit (% ratio) * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. Actuator Specifications „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) Stroke (deg) 30 51 (17 per side) 19 RCP2-GR3LM-I-42P-30-19- ➀ - ➁ - ➂ Stroke Deceleration ratio 30 19 (deg) 200 (Unit: degrees/s) Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options Stroke Cable Length Stroke (deg) Standard price 19 — Type Standard Pulse Motor Special length Robot Cable Servo Motor (24V) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Name Flange bracket Shaft bracket Option code FB SB Linear Servo Motor 389 RCP2-GR3LM See page ➝ A-43 ➝ A-55 Standard price — — Item Description Drive System Positioning repeatability Backlash Lost motion Weight Ambient operating temperature, humidity Worm gear + worm wheel gear ±0.01 degrees 1 degree or less per side (constantly pressed out by a spring) 0.15 degrees or less per side 1.1kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. 2D CAD Appendix P.15 * When homing, the actuator swings 1 degree past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. Slider Type Mini Standard Controllers Integrated Rod Type 10 +0.05 0 ø 75 ø 75 0 77 - 0.05 0 10 - 0.05 ø3 +0.05 0 2-M4 Mini Standard 9 Cable joint connector *1 4 10 2 0.5 Controllers Integrated 4- ø 5.5 36 M8 (effective depth 4) 78 Mounting surface 80 12 2-ø3 +0.03 depth 3 0 64 Home 62 40.5 20 (same for back side) (23.5) 1.5 4-M6 depth 12 Mounting surface Secure at least 100 Details of A 3-M5 (effective depth 7) Flange plug (set screw M5 x 6) Mini (same for back side) 5° 34 48 18 14.5 ø 62 Gripper/ Rotary Type ø2 9 62 Mounting surface 4 80 7 7 Standard ° 120 ° 120 14° Table/ Arm/ Flat Type (same for opposite side) depth 3 2-3 +0.05 0 A Linear Servo Type 8 ø9 (same for back side) 22 114 (136) Cleanroom Type Weight (kg) 1.1 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-42PI- -2- Easy-to-use controller, even for beginners PSEP-C-42PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-42PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-42PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-42PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-42PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-42PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-42PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-42PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GR3LM — Servo Motor (200V) ➝ P665 Linear Servo Motor 390 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GR3SS RCP2 Model Specification Items Series GR3SS I Type Encoder type ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 62mm, Pulse Motor 28P Motor type 30 10 Deceleration Ratio Stroke 30 : 1/30 I: Incremental 28P: Pulse motor, 10: 10mm * The Simple absolute 28  size deceleration (5mm per side) encoder is also ratio considered type "I". * See page Pre-47 for details on the model descriptions. Applicable controller Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP Options N: None FB: Flange bracket SB: Shaft bracket P: 1m S: 3m M: 5m X: Custom length R: Robot cable „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. Standard Controllers Integrated * Please note that, when gripping (pushing), the speed is fixed at 5mm/s. L F Table/ Arm/ Flat Type * Operate with the L distance up to 50mm. * The gripping force value in the graph below is when L is at 0 mm. (For gripping force reference per L distance, F F see page A-87.) The gripping force value F is the sum of gripping forces of both fingers. Mini Standard 35 Gripper/ Rotary Type Appendix P.5 (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-86. (3) The rated acceleration while moving is 0.3G. Linear Servo Type Cleanroom Type Gripping force P (N) 30 25 20 15 10 5 0 0 10 20 30 40 50 Current Limit (% ratio) 60 70 * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. Actuator Specifications SplashProof Type „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) Stroke (mm) 30 22 (7.3 per side) 10 RCP2-GR3SS-I-28P-30-10- ➀ - ➁ - ➂ Stroke Deceleration ratio 10 (mm) 30 40 (Unit: mm/s) Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options Stroke Cable Length Stroke (mm) Standard price 10 — Type Standard Pulse Motor Special length Robot Cable Servo Motor (24V) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Name Option code FB SB Flange bracket Shaft bracket Linear Servo Motor 391 RCP2-GR3SS See page ➝ A-43 ➝ A-55 Standard price — — Item Description Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity Worm gear + worm wheel gear ±0.01mm 0.3mm or less per side (constantly pressed out by a spring) 0.1mm or less per side Cross roller guide Ma: 3.8 N·m, Mb: 3.8 N·m, Mc: 3.0 N·m 0.6kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. 2D CAD Appendix P.15 * When homing, the actuator swings 0.5mm past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. Slider Type Mini Standard 10 +0.05 0 ø 57 ø 57 0 6 - 0.05 Controllers Integrated Cable joint connector *1 1.5 (same for back side) 4-M5 depth 8 (same for back side) ø59 - 0.05 Controllers Integrated Table/ Arm/ Flat Type ø 45 0 Mini 4 ST5 5 15 18 3.5 1.5 4~9 48 62 Mounting surface (same for opposite side) A Standard ø7 depth 3 2-3 +0.05 0 6 (same for back side) 104 Gripper/ Rotary Type 110 3-M3 depth 5 62 Mounting surface 3-M4 (effective depth 6) Flange plug (set screw M4 x 5) ° 120 24 2 2-ø3 +0.03 0 depth 3 Standard 120 ° 45 Mounting surface 36 1.5 48 10 0 3- ø2.5h7 ( - 0.010 ) ø9 counterbore, depth 1.5 M8 (effective depth 6) 62 4- ø 4.5 Mini 70 Secure at least 100 40 B 0.5 Details of A 4 3-M3 depth 5 2 Rod Type ø9 counterbore, depth 1.5 M8 (effective depth 6) Linear Servo Type Home Cleanroom Type ST5 18 4~9 5 3.5 1.5 15 1.5 48 Weight (kg) Details of B 0.6 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-28PI- -2- Easy-to-use controller, even for beginners PSEP-C-28PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-28PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-28PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-28PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-28PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-28PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-28PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GR3SS — Servo Motor (200V) ➝ P665 Linear Servo Motor 392 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-GR3SM RCP2 Model Specification Items Series GR3SM I Type Encoder type ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 80mm, Pulse Motor 42P Motor type 30 14 Deceleration Ratio Stroke 30 : 1/30 I: Incremental 42P: Pulse motor, 14: 14mm * T he Simple absolute 42 size deceleration (7mm per side) encoder is also ratio considered type "I". * See page Pre-47 for details on the model descriptions. Applicable controller Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP Options N: None FB: Flange bracket SB: Shaft bracket P: 1m S: 3m M: 5m X: Custom length R: Robot cable „„Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely Mini within the range of current limits of 20% to 70%. Standard * Please note that, when gripping (pushing), the speed is fixed at 5mm/s. F L Controllers Integrated Table/ Arm/ Flat Type * Operate with the L distance up to 80mm. * The gripping force value in the graph below is when L is F force reference per L distance, at 0 mm. (For F gripping see page A-87.) F is the sum of gripping forces of The gripping force value both fingers. Mini Standard 130 Gripper/ Rotary Type Appendix P.5 (1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of 10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right, or page A-86. (3) The rated acceleration while moving is 0.3G. Linear Servo Type Cleanroom Type Gripping force P (N) 120 100 80 60 40 20 0 0 10 20 30 40 50 Current Limit (% ratio) 60 70 * The gripping force graph above shows reference numbers. Please allow margins up to ± 15%. Actuator Specifications SplashProof Type „„Lead and Payload „„ Stroke and Max. Opening/Closing Speed Model number Deceleration Ratio Maximum Gripping Force (N) Stroke (mm) 30 102 (34 per side) 14 RCP2-GR3SM-I-42P-30-14- ➀ - ➁ - ➂ Stroke Deceleration ratio 14 (mm) 30 50 (Unit: mm/s) Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options Stroke Cable Length Stroke (mm) Standard price 14 — Type Standard Pulse Motor Special length Robot Cable Servo Motor (24V) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Name Flange bracket Shaft bracket Option code FB SB Linear Servo Motor 393 RCP2-GR3SM See page ➝ A-43 ➝ A-55 Standard price — — Item Description Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity Worm gear + worm wheel gear ±0.01mm 0.3mm or less per side (constantly pressed out by a spring) 0.1mm or less per side Cross roller guide Ma: 6.3 N·m, Mb: 6.3 N·m, Mc: 5.7 N·m 1.2kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. 2D CAD Appendix P.15 * When homing, the actuator swings 0.5mm past the home position before returning. Therefore, please watch for any interference with the surrounding objects. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. Slider Type Mini Standard Controllers Integrated Mini ø 75 ø 75 0 8 - 0.05 10 +0.05 0 Rod Type Standard 2 Cable joint connector *1 0.5 Controllers Integrated Details of A 47 0 3- ø2.5h7 ( - 0.010 ) ø9 counterbore, depth 1.5 M8 (effective depth 6) 4- ø 5.5 80 2 78 2-ø3 +0.03 depth 3 0 12 (same for back side) 4-M6 depth 12 Mounting surface 3-M5 (effective depth 7) Flange plug (set screw M5 x 6) Mini 120 120 34 48 8 Standard ø 62 Gripper/ Rotary Type 4 0 77 - 0.05 1.5 4 ~ 11 ST7 62 80 7 Home ° 22 25 Table/ Arm/ Flat Type (same for back side) ° 1.5 62 53 Mounting 1.5 surface Secure at least 100 3-M3 depth 6 8 ø9 Mounting surface (same for opposite side) Linear Servo Type A depth 3 2-3 +0.05 0 (same for back side) 118 125 Cleanroom Type Weight (kg) 1.2 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-42PI- -2- Easy-to-use controller, even for beginners PSEP-C-42PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-42PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-42PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-42PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-42PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-42PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-42PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-42PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-GR3SM — Servo Motor (200V) ➝ P665 Linear Servo Motor 394 Slider Type Mini Standard Controllers Integrated Rod Type RCS2 ROBO Cylinder RCS2-GR8 Model Specification Items RCP2 Series GR8 ROBO Cylinder, 2-Finger Gripper, Long Stroke Slider Type, Actuator Width 104 ~ 284mm, 200V servo Motor I Type 60 Encoder type Motor type I: Incremental 60: 60W Servo motor * See page Pre-47 for details on the model descriptions. 5 Deceleration Ratio 5: 1/5 Stroke Applicable controller T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S 20: 20mm 40: 40mm (60): 60mm (80): 80mm 100: 100mm (120): 120mm (200): 200mm Cable length N: None Options See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable Mini Standard *CE compliance is optional. Controllers Integrated Table/ Arm/ Flat Type * Please note that, when gripping (pressing), the speed is fixed at 10mm/s Mini Standard Appendix Gripper/ Rotary Type P.5 (1) Stroke values enclosed in "(  )" are (60, 80, 120, 200) are semi-standard models. (2) The maximum gripping force is the sum of both fingers. Linear Servo Type Cleanroom Type SplashProof Type Actuator Specifications „„Lead and Payload Model number Motor Output (W) Deceleration Ratio Gripping force at a stop (N) (Note 1) Rated gripping force at a travel (N) (Note 2) Stroke (mm) RCS2-GR8-I-60-5- ➀ - ➁ - ➂ - ➃ 60 1/5 22.5 (11.25 per side) 31.3 (15.65 per side) 20, 40, (60), (80), 100, (120), (200) (Note 1) The value of allowable load at a stop (Note 2) The value of allowable load when fingers are traveling Code explanation ➀ Stroke ➁ Applicable controller ➂ Cable length ➃ Options ➂Cable Length Stroke Stroke Pulse Motor Type Standard price (mm) 20 40 (60) (80) 100 (120) (200) — — — — — — — Standard Special length Robot Cable Servo Motor (24V) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications ➃ Options Servo Motor (200V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Name Option code CE CE compliance Linear Servo Motor 395 RCS2-GR8 See page ➝ A-42 Standard price — Item Drive System Positioning repeatability Lost motion Base Allowable static load moment Ambient operating temperature, humidity Description Rack and pinion ±0.04mm 0.7mm or less per side Material: Aluminum, white alumite treated Ma: 5.1 N·m, Mb: 5.1 N·m, Mc: 10.4 N·m 0 to 40oC, 85% RH or less (Non-condensing) RCS2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD www.intelligentactuator.com Appendix P.15 Slider Type Mini * The opening side of the slider is the home position. Standard Controllers Integrated T-slot for mounting the actuator (300) Cable joint connector*1 28.0 Rod Type 27 A 61 B B 6 6 10.3 6.3 Mini 2 27 2 6.0 3.0 13.5 Standard Details of the T-slot for mounting actuator Controllers Integrated Secure at least 100 (Note 1) 6-M4 effective depth (per side) 10 225 10.4 5 9 62 Table/ Arm/ Flat Type 9 56 52 Mini 15 75 70 45 16 8 15 2-M4 14.5 Standard 13.5 E D (C) 27 15 (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. 28 54 Gripper/ Rotary Type 1 100 (Note 1) The number of tapped holes on the finger mounting plate is for one side. In addition, by default, each finger is secured using 2 tapped holes „„Dimensions and Weight by Stroke Stroke A B C D E Weight (kg) 20 40 (60) (80) 100 (120) (200) 22 42 62 82 102 122 202 10 20 30 40 50 60 100 106.4 126.4 146.4 166.4 186.4 206.4 286.4 104 124 144 164 184 204 284 100 120 140 160 180 200 280 1.8 1.9 1.9 2.0 2.0 2.1 2.3 *1 The strokes enclosed in "( )" are semi-standard configurations, and will require longer delivery time. Applicable Controllers Linear Servo Type Cleanroom Type SplashProof Type RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application. Name External view Model number Features Up to 512 positioning points are supported. Positioner mode Actuators can be operated through the same control used for solenoid valves. Solenoid valve mode SCON-CA-60I-NP-2- Maximum number of positioning points — ➝ P643 218 VA max. 768 points Pulse-train input control type Dedicated pulse-train input type (–) 256 points Positioner multi-axis, network type MSCON-C-1-60- -0- Up to 6 axes can be operated. Movement by numerical specification is supported. Program control type, 1 to 2 axes SSEL-CS-1-60I-NP-2- Program operation is supported. Up to 2 axes can be operated. XSEL- -1-60I-N1-EEE-2- Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axis connected * * Standard Reference price page 7 points Movement by numerical specification is supported. * This is for the single-axis MSCON, SSEL, and XSEL. * indicates the XSEL type (J / K / P / Q / R / S). * indicates field network specification symbol. Power supply capacity 512 points Field network type Program control type, 1 to 8 axes Input power Single-phase * Power supply 100VAC capacity will Single-phase vary depending 200VAC on the controller, so 3-phase please refer to 200VAC the instruction (XSEL-P/Q/R/S manual for ONLY) details. 20,000 points — Pulse Motor — — ➝ P655 — ➝ P685 — ➝ P695 indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V). indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V / 3: Three-phase 200 V). RCS2-GR8 Servo Motor (24V) Servo Motor (200V) Linear Servo Motor 396 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-RTBS/RTBSL RCP2 Model Specification Items Series Type I Encoder type ROBO Cylinder, Rotary, Small Vertical Type, Actuator Width 45mm, Pulse Motor 20P Motor type * See page Pre-47 for details on the model descriptions. Applicable controller Deceleration Ratio Oscillation Angle 20P: Pulse motor, RTBS: 330-deg I: Incremental rotation * T he Simple absolute 20  size encoder is also RTBSL: Multiple rotation considered type "I". 30 : 1/30 deceleration ratio 45 : 1/45 deceleration ratio Options NM: Non-motor end N: None SA: Shaft adapter P: 1m TA: Table adapter S: 3m M: 5m X: Custom length n Speed vs. Load Capacity Mini Due to the characteristics of the pulse motor, the RCP2 0.50 series' load capacity decreases at high speeds. In the 0.45 below, check if your desired speed and load table 0.40 Deceleration ratio 1/45 capacity 0.36 are supported. Output torque Output (N•m) torque (N•m) Standard Controllers Integrated Table/ Arm/ Flat Type Mini Standard 0.35 0.30 0.50 0.24 0.25 0.45 0.20 0.40 0.15 0.36 0.35 0.10 0.30 0.05 0.24 0.25 0.00 50 0.200 0.15 0.10 0.05 0.00 0 50 Appendix Allowable moment Allowable of moment of 2 inertia (× 10-3 kg•m inertia ) (× 10-3 kg•m2) P.5 Gripper/ Rotary Type (1) The output torque decreases as the rotational speed increases. Check the Output Torque graph on the right to see whether the speed required for your desired motion is supported. (2) The allowable moment of inertia of the rotated work piece varies with the rotational speed. Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within the allowable range. (3) The rated acceleration while moving is 0.2G. (4) Please note that the PMEC/PSEP controllers cannot be used when performing infinite rotation with the multiple rotation type. Linear Servo Type Cleanroom Type Actuator Specifications SplashProof Type Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP 3 30: 330-degrees (RTBS only) 360: 360-degrees (RTBSL only) 5 4.5 4 3.5 3 2.55 2.3 4.52 1.54 3.51 0.53 2.50 2.3 50 20 1.5 1 0.5 0 0 50 Deceleration ratio 1/30 Deceleration ratio 1/45 Deceleration ratio 1/30 100 150 200 250 300 Rotational speed (deg/sec) 350 400 450 100 150 200 250 300 Rotational speed (deg/sec) 350 400 450 Deceleration ratio 1/45 Deceleration ratio 1/30 Deceleration ratio 1/45 Deceleration ratio 1/30 100 150 200 250 300 Rotational speed (deg/sec) 100 150 200 250 300 350 400 450 350 400 450 Rotational speed (deg/sec) „„Deceleration Ratio and Max. Speed „„Leads and Payload Deceleration Max. Torque Ratio (N ∙ m) Model number Allowable Movement of Inertia (kg ∙ m2) RCP2-RTBS-I-20P-30-330- ➀ - ➁ - ➂ 1/30 0.24 0.0023 RCP2-RTBS-I-20P-45-330- ➀ - ➁ - ➂ 1/45 0.36 0.0035 RCP2-RTBSL-I-20P-30-360- ➀ - ➁ - ➂ 1/30 0.24 0.0023 RCP2-RTBSL-I-20P-45-360- ➀ - ➁ - ➂ 1/45 0.36 0.0035 Oscillation Angle (deg) Stroke Deceleration ratio 330 330/360 (deg) 1/30 400 1/45 266 (Unit: degrees/s) 360 Code explanation  Applicable Controller ➁ Cable Length ➂ Options Stroke Type Pulse Motor Cable Length Oscillation Angle (deg) RTBS RTBSL Standard price 330 360 — — Standard (Robot Cables) Special length Servo Motor (24V) Cable symbol Standard Price P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) — — — — — — * The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) Type Name Reversed-rotation Shaft adapter Table adapter Option code NM SA TA Linear Servo Motor 397 RCP2-RTBS/RTBSL See page ➝ A-52 ➝ A-54 ➝ A-56 Standard price — — — Item Drive System Positioning repeatability Homing accuracy Lost motion Allowable thrust load Allowable load moment Weight Ambient operating temperature, humidity Description Hypoid gear ±0.05 degrees ±0.05 degrees ±0.1 degrees 30N 3.6 N·m 0.52kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. Appendix P.15 2D CAD Slider Type Mini Standard depth 4 Controllers Integrated Note: * In the 2D drawing on the left, the shaded area indicates the rotating part. 36 45 4 0 +0.05 ø13 5.5 Rod Type 4-M3 depth 3.5 4-M3 depth 7 Mini ø3 H7 ( 0 depth ) 4 7.5 +0.010 26 22 (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables. 21.8 Standard 72 0 +0.02 ø3 0 ø20 g6 ( - 0.020 ) - 0.007 ø7 H7 ( +0.15 0 Controllers Integrated depth 2.5 4-M3 depth 5.5 ) depth 7.5 11.6 Table/ Arm/ Flat Type Mini 39 61 67 70 68.5 27 Cable joint connector *1 (11) ø36 h7 ( - 0.025 ) +0.04 depth 2.5 +0.02 ø3 0 depth 2.5 12.5 12.5 (25) +0.04 48 4-M3 depth 5.5 12 6 33 (6) 3 0 4 45 11 4 17.5 Standard (35.5) 3 0 depth 2.5 48 (20) Gripper/ Rotary Type Secure at least 100 Linear Servo Type Note: The position shown in the top view of the drawing is the home position for both the standard type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse rotation type will move clockwise during homing and then moves counter clockwise afterward. Please be aware that the homing direction cannot be changed after shipment. Please refer to the Appendix for the details. Weight (kg) Cleanroom Type 0.52 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-20PI- -2- Easy-to-use controller, even for beginners PSEP-C-20PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-20PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-20PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-20PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-20PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-20PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-20PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 — ➝ P665 Linear Servo Motor indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-RTBS/RTBSL Servo Motor (200V) 398 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-RTCS/RTCSL RCP2 Model Specification Items Series Type I Encoder type ROBO Cylinder, Rotary, Small Flat Type, Actuator Width 72mm, Pulse Motor 20P Motor type * See page Pre-47 for details on the model descriptions. Applicable controller Deceleration Ratio Oscillation Angle 20P: Pulse motor, RTCS: 330-deg I: Incremental rotation * T he Simple absolute 20 size encoder is also RTCSL: Multiple rotation considered type "I". 30 : 1/30 deceleration ratio 45 : 1/45 deceleration ratio P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP 3 30: 330-degrees (RTCS only) 360: 360-degrees (RTCSL only) Options n Speed vs. Load Capacity Mini Output torqueOutput (N•m) torque (N•m) Standard Controllers Integrated Table/ Arm/ Flat Type Mini Due to the characteristics of the pulse motor, the RCP2 0.50 series' load capacity decreases at high speeds. In the 0.45 table below, check if your desired speed and load 0.40 0.36 Deceleration ratio 1/45 capacity are supported. 0.35 0.30 0.50 0.24 0.25 0.45 0.20 0.40 0.36 0.15 0.35 0.10 0.30 0.05 0.25 0.24 0.00 0.200 50 0.15 0.10 0.05 0.00 0 50 Deceleration ratio 1/30 Deceleration ratio 1/45 Deceleration ratio 1/30 100 150 200 250 300 Rotational speed (deg/sec) 350 400 450 100 150 200 250 300 Rotational speed (deg/sec) 350 400 450 Standard Appendix Allowable moment Allowable of moment of 2 inertia (× 10-3 kg•m inertia ) (× 10-3 kg•m2) P.5 Gripper/ Rotary Type (1) The output torque decreases as the rotational speed increases. Check the Output Torque graph on the right to see whether the speed required for your desired motion is supported. (2) The allowable moment of inertia of the rotated work piece varies with the rotational speed. Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within the allowable range. (3) The rated acceleration while moving is 0.2G. (4) Please note that the PMEC/PSEP controllers cannot be used when performing infinite rotation with the multiple rotation type. Linear Servo Type Cleanroom Type Actuator Specifications SplashProof Type Cable length NM: Non-motor end N: None SA: Shaft adapter P: 1m TA: Table adapter S: 3m M: 5m X: Custom length 5 4.5 4 3.5 3 5 2.5 2.3 4.5 2 4 1.5 3.5 1 3 0.5 2.3 2.5 0 20 50 1.5 1 0.5 0 0 50 Deceleration ratio 1/45 Deceleration ratio 1/30 Deceleration ratio 1/45 Deceleration ratio 1/30 100 150 200 250 300 Rotational speed (deg/sec) 350 400 450 100 150 200 250 300 Rotational speed (deg/sec) 350 400 450 „„Deceleration Ratio and Max. Speed „„Leads and Payload Deceleration Max. Torque Ratio (N ∙ m) Model number Allowable Movement of Inertia (kg ∙ m2) RCP2-RTCS-I-20P-30-330- ➀ - ➁ - ➂ 1/30 0.24 0.0023 RCP2-RTCS-I-20P-45-330- ➀ - ➁ - ➂ 1/45 0.36 0.0035 RCP2-RTCSL-I-20P-30-360- ➀ - ➁ - ➂ 1/30 0.24 0.0023 RCP2-RTCSL-I-20P-45-360- ➀ - ➁ - ➂ 1/45 0.36 0.0035 Oscillation Angle (deg) Stroke Deceleration ratio 330 330/360 (deg) 1/30 400 1/45 266 (Unit: degrees/s) 360 Code explanation  Applicable Controller ➁ Cable Length ➂ Options Stroke Type Pulse Motor Cable Length Oscillation Angle (deg) RTCS RTCSL Standard price 330 360 — — Standard (Robot Cables) Special length Servo Motor (24V) Cable symbol Standard Price P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) — — — — — — * The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) Type Name Reversed-rotation Shaft adapter Table adapter Option code NM SA TA Linear Servo Motor 399 RCP2-RTCS/RTCSL See page ➝ A-52 ➝ A-54 ➝ A-56 Standard price — — — Item Drive System Positioning repeatability Homing accuracy Lost motion Allowable thrust load Allowable load moment Weight Ambient operating temperature, humidity Description Hypoid gear ±0.05 degrees ±0.05 degrees ±0.1 degrees 30N 3.6 N·m 0.48kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. Appendix P.15 2D CAD Slider Type Mini Standard (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables. Note: * In the 2D drawing on the left, the shaded area indicates the rotating part. Rod Type Secure at least 100 17.5 11.6 Controllers Integrated Mini Standard +0.05 4 0 depth 4 Controllers Integrated 29 36 68 5.5 depth 2.5 4 ø13 +0.04 3 0 8 22.5 Table/ Arm/ Flat Type 7.5 26 4-M3 depth 7 4-M3 depth 3.5 22 +0.010 3 ) (7) ( ( Mini 4-M3 depth 5.5 ) ) depth 7.5 +0.04 36 depth 2.5 12 42 22 depth 2.5 Standard 3 0 48 depth 2.5 +0.02 0 Cable joint connector *1 - 0.007 ø20 g6 - 0.020 +0.015 ø7 H7 0 4 0 - 0.025 7 45 43.5 +0.02 34 72 ø36 h7 ( ø3 0 48 ø3 H7 ( 0 depth ) 4 21.8 4-M3 depth 5.5 Gripper/ Rotary Type Note: The position shown in the top view of the drawing is the home position for both the standard type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse rotation type will move clockwise during homing and then moves counter clockwise afterward. Please be aware that the homing direction cannot be changed after shipment. Please refer to the Appendix for the details. Linear Servo Type hollow hole ø6 through-hole ø11 depth 0.9 Cleanroom Type 27 Weight (kg) 0.48 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-20PI- -2- Easy-to-use controller, even for beginners PSEP-C-20PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-20PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-20PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-20PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-20PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-20PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-20PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 — ➝ P665 Linear Servo Motor indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-RTCS/RTCSL Servo Motor (200V) 400 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-RTB/RTBL RCP2 Model Specification Items Series Type I Encoder type ROBO Cylinder, Rotary, Medium Vertical Type, Actuator Width 50mm, Pulse Motor 28P Motor type 28P: Pulse motor, RTB: 330-deg I: Incremental rotation * T he Simple absolute 28 size RTBL: Multiple encoder is also rotation considered type "I". * See page Pre-47 for details on the model descriptions. Deceleration Ratio Oscillation Angle Applicable controller 20 : 1/20 deceleration ratio 30 : 1/30 deceleration ratio P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP 330: 330-degrees (RTB only) 360: 360-degrees (RTBL only) Output torque (N•m) Output torque (N•m) Standard Controllers Integrated Table/ Arm/ Flat Type Mini Due to the characteristics of the pulse motor, the RCP2 3 series' load capacity decreases at high speeds. In the Output torque table 2.5 below, check if your desired speed and load capacity are supported. 2 3.5 1.7 1.5 3 1.1 1 2.5 0.5 2 0 1.7 1.50 1.1 1 Output torque 0.85 0.55 Deceleration ratio 1/30 100 Deceleration ratio 1/20 200 300 400 500 Rotational speed (deg/sec) 0.85 600 P.5 0.55 Deceleration ratio 1/20 100 200 300 400 500 Rotational speed (deg/sec) 600 700 Allowable moment of inertia Allowable moment Allowable of moment of 2) inertia (× 10-3 kg•m inertia (× 10-3 kg•m2) 30 25 (1) The output torque decreases as the rotational speed increases. Check the Output Torque graph on the right to see whether the speed required for your desired motion is supported. (2) The allowable moment of inertia of the rotated work piece varies with the rotational speed. Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within the allowable range. (3) The rated acceleration while moving is 0.3G. (4) Please note that the PMEC/PSEP controllers cannot be used when performing infinite rotation with the multiple rotation type. Linear Servo Type 20 35 15 30 10 25 5 20 0 15 0 Deceleration ratio 1/30 Allowable moment 7.5 of inertia 5 Deceleration 1/30 100 200 ratio 300 Actuator Specifications „„Leads and Payload Deceleration Max. Torque Ratio (N ∙ m) Model number Allowable Movement of Inertia (kg ∙ m2) RCP2-RTB-I-28P-20-330- ➀ - ➁ - ➂ 1/20 1.1 0.01 RCP2-RTB-I-28P-30-330- ➀ - ➁ - ➂ 1/30 1.7 0.015 RCP2-RTBL-I-28P-20-360- ➀ - ➁ - ➂ 1/20 1.1 0.01 RCP2-RTBL-I-28P-30-360- ➀ - ➁ - ➂ 1/30 1.7 0.015 Oscillation Angle (deg) 600 Deceleration ratio 1/20 100 200 300 400 500 600 „„Deceleration Ratio Max. Speed Rotational speedand (deg/sec) Stroke Deceleration ratio 330 Type 1/20 600 1/30 400 (Unit: degrees/s) 360 Cable Length Oscillation Angle (deg) Standard price 330 360 — — RTB RTBL Type Standard Pulse Motor Special length Robot Cable Servo Motor (24V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Name Reversed-rotation Shaft adapter Table adapter Option code NM SA TA Linear Servo Motor 401 RCP2-RTB/RTBL See page ➝ A-52 ➝ A-54 ➝ A-56 Standard price — — — Item Drive System Positioning repeatability Homing accuracy Lost motion Allowable thrust load Allowable load moment Weight Ambient operating temperature, humidity 700 330/360 (deg) Code explanation  Applicable Controller ➁ Cable Length ➂ Options Stroke 700 5 5 0 0 Deceleration ratio 1/20 400 500 Rotational speed (deg/sec) 7.5 10 Servo Motor (200V) 700 35 Appendix Gripper/ Rotary Type Deceleration ratio 1/30 0.5 0 0 Standard SplashProof Type Options vs. Load Capacity n Speed 3.5 Mini Cleanroom Type Cable length N: None NM: Non-motor end P: 1m SA: Shaft adapter S: 3m TA: Table adapter M: 5m X: Custom length R: Robot cable Description Hypoid gear ±0.01 degrees ±0.01 degrees (RTB) / ±0.05 (RTBL) ±0.1 degrees 50N 3.9 N·m 0.86kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. Appendix www.intelligentactuator.com P.15 2D CAD +0.05 4 0 depth 3 7 Controllers Integrated Rod Type ø1 42 Mini Standard Note: The position shown in the top view of the drawing is the home position for both the standard type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse rotation type will move clockwise during homing and then moves counter clockwise afterward. Please be aware that the homing direction cannot be changed after shipment. Please refer to the Appendix for the details. Note: * In the 2D drawing below, the shaded area indicates the rotating part. 6 Slider Type Mini 5-M3 depth 6 4-M4 depth 7 37 Cable joint connector *1 ø3H7 depth 4 30 26.5 88 ø45h7 ø24h7 +0.03 ø4 0 ø11H7 depth 10 depth 2.5 Standard Controllers Integrated 34 4-M4 depth 8 (10) Table/ Arm/ Flat Type 52 71 83.5 82 77 Mini 9 5 Standard (5.5) 50 +0.05 4 0 depth 2.5 56 depth 2.5 56 Secure at least 100 (28) Gripper/ Rotary Type 5 4 +0.05 0 4-M4 depth 8 5.5 39 ø4 +0.03 0 Linear Servo Type (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. 12 depth 2.5 22 34 Cleanroom Type (34) Weight (kg) * The bend radius R of the cable is the same as other models. 0.86 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-28PI- -2- Easy-to-use controller, even for beginners PSEP-C-28PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-28PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-28PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-28PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-28PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-28PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-28PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-RTB/RTBL — Servo Motor (200V) ➝ P665 Linear Servo Motor 402 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-RTC/RTCL RCP2 Model Specification Items Series Type I Encoder type ROBO Cylinder, Rotary, Medium Flat Type, Actuator Width 88mm, Pulse Motor 28P Motor type 28P: Pulse motor, RTC: 330-deg I: Incremental rotation * T he Simple absolute 28  size encoder is also RTCL: Multiple rotation considered type "I". * See page Pre-47 for details on the model descriptions. Deceleration Ratio Oscillation Angle Applicable controller 20 : 1/20 deceleration ratio 30 : 1/30 deceleration ratio P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP 330: 330-degrees (RTC only) 360: 360-degrees (RTCL only) Output torque (N•m) Output torque (N•m) Standard Controllers Integrated Table/ Arm/ Flat Type series' load capacity decreases at high speeds. In the 2.5 table below, check if your desired speed and load 2 capacity are supported. Deceleration ratio 1/30 1.7 3.5 1.5 1.1 13 2.5 0.5 02 1.7 0 1.5 1.1 1 Appendix 400 500 Rotational speed (deg/sec) 0.85 100 200 300 400 500 Rotational speed (deg/sec) RCP2-RTC-I-28P-20-330- ➀ - ➁ - ➂ 1/20 1.1 0.01 RCP2-RTC-I-28P-30-330- ➀ - ➁ - ➂ 1/30 1.7 0.015 RCP2-RTCL-I-28P-20-360- ➀ - ➁ - ➂ 1/20 1.1 0.01 RCP2-RTCL-I-28P-30-360- ➀ - ➁ - ➂ 1/30 1.7 0.015 Allowable moment of Allowable moment of 2 inertia inertia (× 10-3 kg•m ) (× 10-3 kg•m2) Allowable moment 7.5 of inertia 5 200 0 15 Deceleration 1/30 100 200 ratio 300 Oscillation Angle (deg) Deceleration ratio 1/20 400 500 Rotational speed (deg/sec) 7.5 600 Type Deceleration ratio 1/20 0 0„„Deceleration 100 200 300 400 Max. 500 Speed 600 Ratio and Rotational speed (deg/sec) Stroke Deceleration ratio 330 Standard price 330 360 — — RTC RTCL 1/20 600 1/30 400 (Unit: degrees/s) 360 Special length Robot Cable Servo Motor (24V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) Type Standard Pulse Motor Name Reversed-rotation Shaft adapter Table adapter Option code NM SA TA Linear Servo Motor 403 RCP2-RTC/RTCL See page ➝ A-52 ➝ A-54 ➝ A-56 Standard price — — — 700 330/360 (deg) Cable Length Oscillation Angle (deg) 700 5 5 Code explanation  Applicable Controller ➁ Cable Length ➂ Options Stroke 700 Deceleration ratio 1/30 30 10 255 „„Leads and Payload Model number 600 Allowable moment of inertia 20 35 15 Actuator Specifications Allowable Movement of Inertia (kg ∙ m2) 700 25 10 Deceleration Max. Torque Ratio (N ∙ m) 600 0.55 30 (1) The output torque decreases as the rotational speed increases. Check the Output Torque graph on the right to see whether the speed required for your desired motion is supported. (2) The allowable moment of inertia of the rotated work piece varies with the rotational speed. Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within the allowable range. (3) The rated acceleration while moving is 0.3G. (4) Please note that the PMEC/PSEP controllers cannot be used when performing infinite rotation with the multiple rotation type. Linear Servo Type Deceleration ratio 1/20 35 P.5 Gripper/ Rotary Type 0.55 Deceleration ratio 1/30 100 200 300 Deceleration ratio 1/20 0 0 Standard Output torque 0.85 0.5 Mini SplashProof Type Options 3.5 vs. Load Capacity n Speed Due the pulse motor, the RCP2 3 to the characteristics Outputoftorque Mini Cleanroom Type Cable length NM: Non-motor end N: None P: 1m SA: Shaft adapter S: 3m TA: Table adapter M: 5m X: Custom length R: Robot cable Item Drive System Positioning repeatability Homing accuracy Lost motion Allowable thrust load Allowable load moment Weight Ambient operating temperature, humidity Description Hypoid gear ±0.01 degrees ±0.01 degrees (RTC) / ±0.05 (RTCL) ±0.1 degrees 50N 3.9 N·m 0.92kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. www.intelligentactuator.com Appendix P.15 2D CAD Slider Type Mini Standard Controllers Integrated Note: * In the 2D drawing on the right, the shaded area indicates the rotating part. (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. Rod Type Secure at least 100 Mini 5 Controllers Integrated Table/ Arm/ Flat Type 25 35 ø1 7 42 6 +0.05 4 0 depth 3 81 Standard +0.05 4 0 depth 2.5 30 ø3H7 depth 4 Mini 7.5 37 5-M3 depth 6 4-M4 depth 7 56 44 26.5 88 +0.03 ø4 0 ø45h7 ø24h7 depth 2.5 4-M4 depth 8 ø11H7 depth 10 +0.05 depth 2.5 4-M4 depth 8 6 46 55 53.5 52 34 +0.03 ø4 0 56 hollow hole ø10 through-hole ø15.4 depth 5.5 depth 2.5 Standard Gripper/ Rotary Type 5 4 0 Cable joint connector *1 34 Note: The position shown in the top view of the drawing is the home position for both the standard type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse rotation type will move clockwise during homing and then moves counter clockwise afterward. Please be aware that the homing direction cannot be changed after shipment. Please refer to the Appendix for the details. * The bend radius R of the cable is the same as other models. Weight (kg) Linear Servo Type Cleanroom Type 0.92 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-28PI- -2- Easy-to-use controller, even for beginners PSEP-C-28PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-28PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-28PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-28PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-28PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-28PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-28PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-RTC/RTCL — Servo Motor (200V) ➝ P665 Linear Servo Motor 404 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-RTBB/RTBBL RCP2 Model Specification Items Series Type I Encoder type ROBO Cylinder, Rotary, Large Vertical Type, Actuator Width 76mm, Pulse Motor 35P Motor type 35P: Pulse motor, RTBB: 330-deg I: Incremental rotation * T he Simple absolute 35 size RTBBL: Multiple encoder is also rotation considered type "I". * See page Pre-47 for details on the model descriptions. Deceleration Ratio Oscillation Angle Applicable controller 20 : 1/20 deceleration ratio 30 : 1/30 deceleration ratio P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP 330: 330-degrees (RTBB only) 360: 360-degrees (RTBBL only) Cable length 5.0 vs. Load Capacity n Speed 4.5 Mini Output torque (N•m) Output torque (N•m) Due4.6 to the characteristics of the pulse motor, the RCP2 4.0 1/30 speeds. In the series' load capacityDeceleration decreasesratio at high 3.5 table below, check if your desired speed and load 3.0 capacity are supported. Standard Controllers Integrated Table/ Arm/ Flat Type Mini Appendix Standard Deceleration ratio 1/20 2.5 5.0 2.0 4.5 1.5 4.6 4.0 1.0 3.5 0.5 3.00 2.50 100 2.0 1.5 1.0 0.5 0 0 100 1.73 Deceleration ratio 1/30 200 300 400 500 Rotational speed (deg/sec) Allowable moment Allowable of moment of 2) inertia (× 10-3 kg•m inertia (× 10-3 kg•m2) 25 20 40 15 35 10 30 5 25 0 20 0 15 Deceleration ratio 1/20 11.3 Deceleration ratio 1/30 100 „„Leads and Payload Model number SplashProof Type RCP2-RTBB-I-35P-20-330- ➀ - ➁ - ➂ 1/20 3.0 0.02 RCP2-RTBB-I-35P-30-330- ➀ - ➁ - ➂ 1/30 4.6 0.03 RCP2-RTBBL-I-35P-20-360- ➀ - ➁ - ➂ 1/20 3.0 0.02 RCP2-RTBBL-I-35P-30-360- ➀ - ➁ - ➂ 1/30 4.6 0.03 Oscillation Angle (deg) 7.5 200 300 400 500 600 700 Deceleration ratio 1/20 Rotational speed (deg/sec) 10 Actuator Specifications Allowable Movement of Inertia (kg ∙ m2) 11.3 7.5 5 0 0 „„Deceleration 100 200 300 400 Max. 500 Speed 600 Ratio and Rotational speed (deg/sec) Stroke Deceleration ratio 330 1/20 600 1/30 400 (Unit: degrees/s) 360 Cable Length Type Oscillation Angle (deg) Standard price RTBB RTBBL 330 360 — — Special length Robot Cable Servo Motor (24V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) Type Standard Pulse Motor Name Reversed-rotation Shaft adapter Table adapter Option code NM SA TA Linear Servo Motor 405 RCP2-RTBB/RTBBL See page ➝ A-52 ➝ A-54 ➝ A-56 Standard price — — — 700 330/360 (deg) Code explanation  Applicable Controller ➁ Cable Length ➂ Options Stroke 700 Deceleration ratio 1/30 30 Deceleration Max. Torque Ratio (N ∙ m) 600 35 (1) The output torque decreases as the rotational speed increases. Check the Output Torque graph on the right to see whether the speed required for your desired motion is supported. (2) The allowable moment of inertia of the rotated work piece varies with the rotational speed. Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within the allowable range. (3) The rated acceleration while moving is 0.3G. (4) Please note that the PMEC/PSEP controllers cannot be used when performing infinite rotation with the multiple rotation type. Linear Servo Type 1.13 Deceleration 200 300 400 500 ratio 600 1/20700 Rotational speed (deg/sec) 1.73 1.13 40 P.5 Gripper/ Rotary Type Cleanroom Type Options NM: Non-motor end N: None P: 1m SA: Shaft adapter S: 3m TA: Table adapter M: 5m X: Custom length R: Robot cable Item Drive System Positioning repeatability Homing accuracy Lost motion Allowable thrust load Allowable load moment Weight Ambient operating temperature, humidity Description Hypoid gear ±0.01 degrees ±0.01 degrees (RTBB) / ±0.03 (RTBBL) ±0.1 degrees 200N 17.7 N·m 2.3kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings www.intelligentactuator.com CAD drawings can be downloaded from the website. Appendix P.15 2D CAD Slider Type Mini Standard ø4 H7 ( 0 ø30 ) depth 5 (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. Rod Type 5 0 54 76 7 Controllers Integrated Note: * In the 2D drawing on the left, the shaded area indicates the rotating part. +0.05 depth 5 +0.012 4-M5 depth 8.6 Mini 54 43 38.5 Cable joint connector *1 124 ø65 h7 ( 0 - 0.030 ) +0.05 ø5 0 ø40 g6 ( - 0.025 ) - 0.009 ø21 H7 ( +0.021 0 depth 3.5 Controllers Integrated 4-M5 depth 10 ) depth 12.5 Table/ Arm/ Flat Type 63 ø14 95 103 107 55 105 Standard 16 6-M4 depth 7 Mini Standard 5 +0.05 0 6 (9.5) depth 3.5 9.5 34 34 (68) (40.5) Secure at least 100 Gripper/ Rotary Type 4-M5 depth 10 57 5 depth 3.5 78.5 78.5 +0.05 0 6 16 14.5 76 +0.05 ø5 0 (44.5) depth 3.5 Note: The position shown in the top view of the drawing is the home position for both the standard type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse rotation type will move clockwise during homing and then moves counter clockwise afterward. Please be aware that the homing direction cannot be changed after shipment. Please refer to the Appendix for the details. Weight (kg) Linear Servo Type Cleanroom Type 2.3 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-35PI- -2- Easy-to-use controller, even for beginners PSEP-C-35PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-35PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-35PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-35PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-35PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-35PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-35PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-35PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 — ➝ P665 Linear Servo Motor indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-RTBB/RTBBL Servo Motor (200V) 406 Slider Type Mini Standard Controllers Integrated Rod Type RCP2 ROBO Cylinder RCP2-RTCB/RTCBL RCP2 Model Specification Items Series Type I Encoder type ROBO Cylinder, Rotary, Large Flat Type, Actuator Width 124mm, Pulse Motor 35P Motor type * See page Pre-47 for details on the model descriptions. Applicable controller Deceleration Ratio Oscillation Angle 35P: Pulse motor, RTCB: 330-deg I: Incremental rotation * T he Simple absolute 35 size encoder is also RTCBL: Multiple rotation considered type "I". 20 : 1/20 deceleration ratio 30 : 1/30 deceleration ratio Cable length P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP 330: 330-degrees (RTCB only) 360: 360-degrees (RTCBL only) 5.0 vs. Load Capacity n Speed 4.5 Mini Output torque (N•m) Output torque (N•m) Due4.6 to the characteristics of the pulse motor, the RCP2 4.0 1/30 speeds. In the series' load capacityDeceleration decreasesratio at high 3.5 table below, check if your desired speed and load 3.0 capacity are supported. Standard Controllers Integrated Table/ Arm/ Flat Type Mini Appendix Standard Deceleration ratio 1/20 2.5 5.0 2.0 4.5 4.6 1.5 4.0 1.0 3.5 0.5 3.0 0 2.50 100 2.0 1.5 1.0 0.5 0 0 100 1.73 Deceleration ratio 1/30 200 300 400 500 Rotational speed (deg/sec) Allowable moment Allowable of moment of 2) inertia (× 10-3 kg•m inertia (× 10-3 kg•m2) 25 20 40 15 35 10 30 5 25 0 20 0 15 Deceleration ratio 1/20 11.3 Deceleration ratio 1/30 100 „„Leads and Payload Model number SplashProof Type RCP2-RTCB-I-35P-20-330- ➀ - ➁ - ➂ 1/20 3.0 0.02 RCP2-RTCB-I-35P-30-330- ➀ - ➁ - ➂ 1/30 4.6 0.03 RCP2-RTCBL-I-35P-20-360- ➀ - ➁ - ➂ 1/20 3.0 0.02 RCP2-RTCBL-I-35P-30-360- ➀ - ➁ - ➂ 1/30 4.6 0.03 Oscillation Angle (deg) 7.5 200 300 400 500 600 700 Deceleration ratio 1/20 Rotational speed (deg/sec) 10 Actuator Specifications Allowable Movement of Inertia (kg ∙ m2) 11.3 7.5 5 0 0 „„Deceleration 100 200 300 400 Max. 500 Speed 600 Ratio and Rotational speed (deg/sec) Stroke Deceleration ratio 330 1/20 600 1/30 400 (Unit: degrees/s) 360 Cable Length Type Oscillation Angle (deg) Standard price RTCB RTCBL 330 360 — — Special length Robot Cable Servo Motor (24V) Servo Motor (200V) Type Standard Pulse Motor Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Name Reversed-rotation Shaft adapter Table adapter Option code NM SA TA Linear Servo Motor 407 RCP2-RTCB/RTCBL See page ➝ A-52 ➝ A-54 ➝ A-56 Standard price — — — 700 330/360 (deg) Code explanation  Applicable Controller ➁ Cable Length ➂ Options Stroke 700 Deceleration ratio 1/30 30 Deceleration Max. Torque Ratio (N ∙ m) 600 35 (1) The output torque decreases as the rotational speed increases. Check the Output Torque graph on the right to see whether the speed required for your desired motion is supported. (2) The allowable moment of inertia of the rotated work piece varies with the rotational speed. Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within the allowable range. (3) The rated acceleration while moving is 0.3G. (4) Please note that the PMEC/PSEP controllers cannot be used when performing infinite rotation with the multiple rotation type. Linear Servo Type 1.13 Deceleration 200 300 400 500 ratio 600 1/20700 Rotational speed (deg/sec) 1.73 1.13 40 P.5 Gripper/ Rotary Type Cleanroom Type Options NM: Non-motor end N: None P: 1m SA: Shaft adapter S: 3m TA: Table adapter M: 5m X: Custom length R: Robot cable Item Drive System Positioning repeatability Homing accuracy Lost motion Allowable thrust load Allowable load moment Weight Ambient operating temperature, humidity Description Hypoid gear ±0.01 degrees ±0.01 degrees (RTCB) / ±0.03 (RTCBL) ±0.1 degrees 200N 17.7 N·m 2.2kg 0 to 40oC, 85% RH or less (Non-condensing) RCP2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. www.intelligentactuator.com Appendix P.15 2D CAD Slider Type Mini Standard Controllers Integrated Note: * In the 2D drawing on the left, the shaded area indicates the rotating part. Rod Type Secure at least 100 Mini 14.5 +0.05 depth 5 Controllers Integrated Table/ Arm/ Flat Type 11 38 ø3 54 0 54 7 depth 3.5 5 0 114 ø 14 Standard +0.05 5 0 4-M5 depth 8.6 54 43 ø4 H7 ( 0 +0.012 38.5 6-M4 depth 7 ) depth 5 78.5 ø5 0 ø65 h7 ( - 0.030 ) ø40 g6 ( +0.05 0 Mini 4-M5 depth 10 54 124 depth 3.5 Cable joint connector *1 ) ) depth 12.5 Standard - 0.009 - 0.025 +0.021 0 ø21 H7 ( +0.05 5 0 depth 3.5 +0.05 ø5 0 Gripper/ Rotary Type 56 64 40 8 68 66 6 (*1) Connect the motor and encoder cables here. See page A-59 for details on cables. 4-M5 depth 10 78.5 depth 3.5 hollow hole ø20 through-hole ø27 depth 3.5 68 Note: The position shown in the top view of the drawing is the home position for both the standard type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse rotation type will move clockwise during homing and then moves counter clockwise afterward. Please be aware that the homing direction cannot be changed after shipment. Please refer to the Appendix for the details. Weight (kg) Linear Servo Type Cleanroom Type 2.2 SplashProof Type Applicable Controllers RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application. Name External view Model number Features Maximum number of positioning points AC100V AC200V PMEC-C-35PI- -2- Easy-to-use controller, even for beginners PSEP-C-35PI- -2-0 Simple controller operable with the same signal as a solenoid valve Solenoid valve multi-axis type PIO specification MSEP-C- -~- -2-0 Positioner type based on PIO control, allowing up to 8 axes to be connected Solenoid valve multi-axis type Network specification MSEP-C- -~- -0-0 Field network-ready positioner type, allowing up to 8 axes to be connected 256 points Positioner type High-output specification PCON-CA-35PI- -2-0 Equipped with a high-output driver Positioner type based on PIO control 512 points Pulse-train type High-output specification PCON-CA-35PI-PL-2-0 Equipped with a high-output driver Pulse-train input type (—) Field network type High-output specification PCON-CA-35PI- -0-0 Equipped with a high-output driver Supporting 7 major field networks 768 points Pulse Train Input Type (Differential Line Driver) PCON-PL-35PI- -2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-35PI- -2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-35PI-N-0-0 Dedicated Serial Communication PSEL-CS-1-35PI- -2-0 Programmed operation is possible. Can operate up to 2 axes Solenoid Valve Type Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). * Input power 3 points Power-supply Standard Reference capacity price page Refer to P541 — ➝ P537 Refer to P555 — ➝ P547 Refer to P572 — ➝ P563 — DC24V Refer to P618 — Pulse Motor ➝ P607 — Servo Motor (24V) — (—) Refer to P628 64 points 1,500 points — ➝ P623 — Refer to P671 indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol. RCP2-RTCB/RTCBL — Servo Motor (200V) ➝ P665 Linear Servo Motor 408 Slider Type Mini Standard Controllers Integrated Rod Type Mini RCS2 ROBO Cylinder RCS2-RTC8L RCS2-RTC8HL ROBO Cylinder, Hollow Rotary, Small Standard Type, Actuator Width 85mm, 200V servo Motor RCS2 Model Specification Items Series Type Encoder type I : Incremental RTC8L: Small standard type A : Absolute RTC8HL: Small high output type ROBO Cylinder, Hollow Rotary, Small High Output Type, Actuator Width 85mm, 200V servo Motor 360 Motor type Deceleration Ratio Oscillation Angle 12: 12W Servo motor 20: 20W Servo motor 15 : 1/15 deceleration ratio 24 : 1/24 deceleration ratio * See page Pre-47 for details on the model descriptions. T2 Applicable controller T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S 360: 360-degrees (multiple rotation) Cable length Options See Options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable Standard Controllers Integrated *CE compliance is optional. Table/ Arm/ Flat Type Mini Appendix Standard P.5 (1) The rated and maximum acceleration is 0.3G. (2) Positioning mode can move between 0 to 9,999.99 deg (0 to 7,670.99 deg with reduction ratio of 1/24). Index rotation mode can move from 0 to 359.99 deg. (Once the actuator moves beyond 359.99 deg, it resets to 0 without having to rotate back to home.) (3) Actuator may vibrate as it moves if the speed is lower than 100 deg/s. Please drive the unit at or above 100mm/s. Gripper/ Rotary Type Linear Servo Type Actuator Specifications Cleanroom Type „„Deceleration Ratio and Max. Speed „„Leads and Payload Motor Deceleration Max. Torque Allowable Movement of Oscillation Output (N) Ratio (N ∙ m) Inertia (kg ∙ m2) Angle (deg) Model number RCS2-RTC8L- ➀ -12-24-360-T2- ➁ - ➂ SplashProof Type RCS2-RTC8HL- ➀ -20-15-360-T2- ➁ - ➂ RCS2-RTC8HL- ➀ -20-24-360-T2 ➁ - ➂ 12 20 1/24 0.55 0.011 1/15 0.53 0.01 1/24 0.85 0.017 Code explanation  Encoder type ➁ Cable length ➂ Options Encoder Type RTC8L RTC8HL 360 (*) 1200 1/24 750 * Refer to "POINT Notes on Selection" above. Type Standard Pulse Motor Robot Cable Cable symbol Standard Price P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Name Servo Motor (200V) 1/15 (Unit: degrees/s) Special length Servo Motor (24V) 360 (deg) Cable Length Standard price Encoder Type Incremental Absolute — — — — Type Stroke Deceleration ratio Brake CE compliance Limit switch (standard feature) Reversed-rotation Option code B CE L NM Linear Servo Motor 409 RCS2-RTC8L/RTC8HL See page ➝ A-42 ➝ A-42 ➝ A-51 ➝ A-52 Standard price — — — — Item Drive System Positioning repeatability Backlash Allowable thrust load Allowable load moment Brake retention torque Weight Ambient operating temperature, humidity Description Timing belt drive system + hypoid gear ±0.005 degrees ±0.05 degrees or less 400N 5 N·m 0.42 N·m 2.3kg 0 to 40oC, 85% RH or less (Non-condensing) RCS2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD www.intelligentactuator.com Appendix P.15 * Connect the motor and encoder cables here. (See page A-59 for details on cables.) Controllers Integrated Caution * The shaded area in the top view shows the rotation area. 16.5 Depth 3.5 Rod Type 44 6 68 4 Mini Standard *103.5 (RTC8HL) *88.5 (RTC8L) +0.05 0 Slider Type Mini 4-M5 Depth10 25 2-ø4 H7 +0.010 0 Depth5 Controllers Integrated Table/ Arm/ Flat Type A 4-M5 Depth10 (Maximum screw-in depth 9) (2) *3 *1 ø60 h7 0 -0.030 4 3 A *2 5 0.04 Mini 4 +0.05 Depth 4 0 *135 (RTC8L) *150 (RTC8HL) 0.03 0.05 (8) 5.5 60° 44.5 5 30 85 ø52 60° (2) 56 Standard Cable joint connector* ø42 H7 +0.025 0 ø30 (Thru hole) +0.05 4 0 Depth 3.5 Mark of origin (conical hole) Gripper/ Rotary Type A 6 77 63 44 ø14 4-M5 Depth 10 14.5 ø4 +0.05 Depth 3.5 0 Standard (8) 25 4 +0.05 Depth 4 0 100 or higher must be retained 69 6-M4 Depth6 *103.5 (RTC8HL) *88.5 (RTC8L) 10.5 5 4 +0.05 Depth 3.5 0 68 *88.5(RTC8L) *103.5(RTC8HL) *1  Table surface circular runout *2  Table parallelism *3  Table outer diameter runout Linear Servo Type Details of section A Note: The position in the detail A drawing above is the homing location for both standard type/ reversed rotation type (Option "-NM" ). Looking from the above, the standard type will rotate counter clockwise during homing, and it moves clockwise afterward. Reverse rotation type will move clockwise during homing and moves counter clockwise afterward. Applicable Controllers Cleanroom Type SplashProof Type RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application. Name External view Model number Field network type Maximum number of positioning points Up to 512 positioning points are supported. Positioner mode Solenoid valve mode Features SCON-CA-12 -NP-2SCON-CA-20 -NP-2- Pulse-train input control type Input power Power supply capacity Standard price Reference page 512 points — Actuators can be operated through the same control used for solenoid valves. 7 points Movement by numerical specification is supported. 768 points Dedicated pulse-train input type (—) 256 points Positioner multi-axis, network type MSCON-C-1-12 - -0MSCON-C-1-20 - -0- Up to 6 axes can be operated. Movement by numerical specification is supported. Program control type, 1 to 2 axes SSEL-CS-1-12 -NP-2SSEL-CS-1-20 -NP-2- Program operation is supported. Up to 2 axes can be operated. Program control type, 1 to 8 axes XSEL- -1-12 -N1-EEE-2XSEL- -1-20 -N1-EEE-2- Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected 106 VA max. Single-phase * Power supply 100VAC capacity will Single-phase vary depending 200VAC on the controller, so 3-phase please refer to 200VAC (XSEL-P/Q/R/S the instruction manual for ONLY) details. 20,000 points * This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200V / 3: Three-phase 200V). * ➝ P643 — Pulse Motor — — ➝ P655 — ➝ P685 — ➝ P695 indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol. RCS2-RTC8L/RTC8HL 410 Servo Motor (24V) Servo Motor (200V) Linear Servo Motor Slider Type Mini Standard Controllers Integrated Rod Type RCS2 ROBO Cylinder RCS2-RTC10L RCS2 Model Specification Items RTC10L Series Type Encoder type RTC10L: Medium I : Incremental type A : Absolute Robo Cylinder, Hollow Rotary, Medium Type, Actuator Width 99mm, 200V Servo Motor 60 Motor type 60: 60W Servo motor * See page Pre-47 for details on the model descriptions. 360 T2 Deceleration Ratio Oscillation Angle Applicable controller 15 : 1/15 360: 360-degrees deceleration (multiple ratio rotation) 24 : 1/24 deceleration ratio T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S Cable length N: None Options See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable Mini *CE compliance is optional. Standard Controllers Integrated Table/ Arm/ Flat Type Mini Appendix Standard P.5 (1) The rated and maximum acceleration is 0.3G. (2) Positioning mode can move between 0 to 9,999.99 deg (0 to 7,670.99 deg with reduction ratio of 1/24). Index rotation mode can move from 0 to 359.99 deg. (Once the actuator moves beyond 359.99 deg, it resets to 0 without having to rotate back to home.) (3) Actuator may vibrate as it moves if the speed is lower than 100 deg/s. Please drive the unit at or above 100mm/s. Gripper/ Rotary Type Linear Servo Type Actuator Specifications Cleanroom Type SplashProof Type „„Deceleration Ratio and Max. Speed „„Leads and Payload Motor Deceleration Max. Torque Allowable Movement Oscillation Ratio (N ∙ m) of Inertia (kg ∙ m2) Angle (deg) Output (W) Model number RCS2-RTC10L- ➀ -60-15-360-T2- ➁ - ➂ 1/15 1.7 0.033 1/24 2.8 0.054 360 (*) 60 RCS2-RTC10L- ➀ -60-24-360-T2- ➁ - ➂ Code explanation  Encoder type ➁ Cable length ➂ Options Encoder Type RTC10L Type Standard Pulse Motor Robot Cable Servo Motor (200V) 1/15 1200 1/24 750 (Unit: degrees/s) * Refer to "POINT Notes on Selection" above. Special length Servo Motor (24V) 360 (deg) Cable Length Standard price Encoder Type Incremental Absolute — — Type Stroke Deceleration ratio Cable symbol Standard Price P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Name Brake CE-compliant specification Limit switch (standard) Reversed-rotation Option code B CE L NM Linear Servo Motor 411 RCS2-RTC10L See page ➝ A-42 ➝ A-42 ➝ A-51 ➝ A-52 Standard price — — — — Item Drive System Positioning repeatability Backlash Allowable thrust load Allowable load moment Brake retention torque Weight Ambient operating temperature, humidity Description Timing belt drive system + hypoid gear ±0.005 degrees ±0.05 degrees or less 600N 10 N·m 0.45 N·m 3.5kg 0 to 40oC, 85% RH or less (Non-condensing) RCS2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD www.intelligentactuator.com Appendix P.15 * Connect the motor and encoder cables here. (See page A-59 for details on cables.) Caution * The shaded area in the top view shows the rotation area. Rod Type 100 or higher must be retained 4 +0.05 Depth 4 0 Depth5 (7) 4-M5 Depth10 A Standard Controllers Integrated Table/ Arm/ Flat Type *3 *1 52 (2.5) 116.5 171 ø70 h7 ø52 h7 5 4 +0.05 Depth 4 0 60 Mini 0 -0.030 +0.030 0 Cable joint connector* ø40 (Thru hole) (Both front and back) 2-4 +0.05 0 8-M5 Depth 10 (Both front and back) Mark of origin (conical hole) Standard Gripper/ Rotary Type ø14 86 72 52 7 A 3 0.04 A *2 4 0.03 0.05 (2.5) 22.5° 22.5° 5 10.5 31 99 ø60 Mini 85 +0.010 0 Controllers Integrated (7) 8-M4 Depth 6 2-ø4 H7 30 Mini Standard Dimensions of mounting holes on the side are bilaterally symmetric. 30 Slider Type 2-4 +0.05 0 Depth 4 (Both front and back) 116.5 14.5 Details of section A *1  Table surface circular runout *2  Table parallelism *3  Table outer diameter runout Linear Servo Type 75 Note: The position in the detail A drawing above is the homing location for both standard type/ reversed rotation type (Option "-NM" ). Looking from the above, the standard type will rotate counter clockwise during homing, and it moves clockwise afterward. Reverse rotation type will move clockwise during homing and moves counter clockwise afterward. Cleanroom Type SplashProof Type Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application. Name External view Model number Features Maximum number of positioning points Up to 512 positioning points are supported. Positioner mode Solenoid valve mode SCON-CA-60 -NP-2- Actuators can be operated through the same control used for solenoid valves. — Dedicated pulse-train input type (—) 256 points Program control type, 1 to 2 axes SSEL-CS-1-60 -NP-2- Program operation is supported. Up to 2 axes can be operated. Program control type, 1 to 8 axes XSEL- -1-60 -N1-EEE-2- ➝ P643 218 VA max. Pulse-train input control type Up to 6 axes can be operated. Movement by numerical specification is supported. Standard Reference price page 7 points Movement by numerical specification is supported. MSCON-C-1-60 - -0- Power supply capacity 512 points Field network type Positioner multi-axis, network type Input power 768 points Single-phase * Power supply 100VAC — capacity will Single-phase vary depending 200VAC on the 3-phase 200VAC (XSEL-P/Q/R/S ONLY) controller, so please refer to the instruction manual for details. Pulse Motor — — ➝ P655 20,000 points — ➝ P685 Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected — ➝ P695 * This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200V / 3: Three-phase 200V). * indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol. RCS2-RTC10L 412 Servo Motor (24V) Servo Motor (200V) Linear Servo Motor Slider Type Mini Standard Controllers Integrated Rod Type RCS2 ROBO Cylinder RCS2-RTC12L RCS2 Model Specification Items RTC12L Series Type RTC12L: Large type Encoder type I : Incremental A : Absolute Robo Cylinder, Hollow Rotary, Large Type, Actuator Width 123mm, 200V Servo Motor 150 Motor type 360 Deceleration Ratio Oscillation Angle 150: 150W Servo 18 : 1/18 deceleration motor 360: 360-degrees (multiple rotation) ratio 30 : 1/30 deceleration ratio * See page Pre-47 for details on the model descriptions. T2 Applicable controller T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S Cable length Options See Options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable Mini Standard *CE compliance is optional. Controllers Integrated Table/ Arm/ Flat Type Mini Appendix P.5 Standard (1) The rated and maximum acceleration is 0.3G. (2) Positioning mode can move between 0 to 9,999.99 deg (0 to 6,140.99 deg with reduction ratio of 1/30). Index rotation mode can move from 0 to 359.99 deg. (Once the actuator moves beyond 359.99 deg, it resets to 0 without having to rotate back to home.) (3) Actuator may vibrate as it moves if the speed is lower than 100 deg/s. Please drive the unit at or above 100mm/s. Gripper/ Rotary Type Linear Servo Type Actuator Specifications Cleanroom Type SplashProof Type „„Deceleration Ratio and Max. Speed „„Leads and Payload Motor Deceleration Max. Torque Allowable Movement Oscillation Ratio (N ∙ m) of Inertia (kg ∙ m2) Angle (deg) Output (W) Model number RCS2-RTC12L- ➀ -150-18-360-T2- ➁ - ➂ 1/18 5.2 0.1 1/30 8.6 0.17 360 (*) 150 RCS2-RTC12L- ➀ -150-30-360-T2- ➁ - ➂ Code explanation  Encoder type ➁ Cable length ➂ Options Encoder Type RTC12L Type Standard Pulse Motor Robot Cable 800 1/30 600 (Unit: degrees/s) Cable symbol Standard Price P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Name Servo Motor (200V) 1/18 * Refer to "POINT Notes on Selection" above. Special length Servo Motor (24V) 360 (deg) Cable Length Standard price Encoder Type Incremental Absolute — — Type Stroke Deceleration ratio Brake CE-compliant specification Limit switch (standard) Reversed-rotation Option code B CE L NM Linear Servo Motor 413 RCS2-RTC12L See page ➝ A-42 ➝ A-42 ➝ A-51 ➝ A-52 Standard price — — — — Item Drive System Positioning repeatability Backlash Allowable thrust load Allowable load moment Brake retention torque Weight Ambient operating temperature, humidity Description Timing belt drive system + hypoid gear ±0.005 degrees ±0.05 degrees or less 800N 25 N·m 1.0 N·m 6.5kg 0 to 40oC, 85% RH or less (Non-condensing) RCS2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD www.intelligentactuator.com Appendix P.15 * Connect the motor and encoder cables here. (See page A-59 for details on cables.) Controllers Integrated Caution * The shaded area in the top view shows the rotation area. Rod Type ø5 +0.05 Depth 4 0 95 40 100 or higher must be retained 166.5 A Mini (7.5) 40 Mini Standard Dimensions of mounting holes on the side are bilaterally symmetric. 8-M5 Depth 8 Slider Type 108 Table/ Arm/ Flat Type 31 123 0 ø8 Controllers Integrated (7.5) Standard *3 *1 0.04 Depth 6 2ø5 H7 +0.012 0 4-M6 Depth12 ø5+0.05 0 Depth 4 (2.5) 233 ø90 h7 0 -0.030 ø66 h7 +0.030 0 ø54 (Thru hole) 3 A *2 2-5 +0.05 0 Cable joint connector* (Both front and back) Mark of origin (conical hole) 8-M6 Depth 12 (Both front and back) Gripper/ Rotary Type 14.5 2-5 +0.05 0 Depth 4 (Both front and back) 166.5 9 A 110 Mini Standard 92 78 54 ø14 6 4 0.03 0.05 64 22.5° 22.5° 6 13.5 (2.5) *1  Table surface circular runout *2  Table parallelism *3  Table outer diameter runout Details of section A Linear Servo Type Note: The position in the detail A drawing above is the homing location for both standard type/ reversed rotation type (Option "-NM" ). Looking from the above, the standard type will rotate counter clockwise during homing, and it moves clockwise afterward. Reverse rotation type will move clockwise during homing and moves counter clockwise afterward. Cleanroom Type SplashProof Type Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application. Name External view Model number Features Maximum number of positioning points Up to 512 positioning points are supported. Positioner mode Solenoid valve mode SCON-CA-150 -NP-2- Actuators can be operated through the same control used for solenoid valves. — Dedicated pulse-train input type (—) 256 points Program control type, 1 to 2 axes SSEL-CS-1-150 -NP-2- Program operation is supported. Up to 2 axes can be operated. Program control type, 1 to 8 axes XSEL- -1-150 -N1-EEE-2- ➝ P643 408 VA max. Pulse-train input control type Up to 6 axes can be operated. Movement by numerical specification is supported. Standard Reference price page 7 points Movement by numerical specification is supported. MSCON-C-1-150 - -0- Power supply capacity 512 points Field network type Positioner multi-axis, network type Input power 768 points Single-phase * Power supply 100VAC — capacity will Single-phase vary depending 200VAC on the 3-phase 200VAC (XSEL-P/Q/R/S ONLY) controller, so please refer to the instruction manual for details. Pulse Motor — — ➝ P655 20,000 points — ➝ P685 Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected — ➝ P695 * This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200V / 3: Three-phase 200V). * indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol. RCS2-RTC12L 414 Servo Motor (24V) Servo Motor (200V) Linear Servo Motor Slider Type Mini Standard Controllers Integrated Rod Type RCS2 ROBO Cylinder RCS2-RT6 Model Specification Items RCS2 Series RT6 Type Robo Cylinder, Rotary, Straight Motor Model, Actuator Width 64mm, 200V Servo Motor I Encoder type I : Incremental 60 18 300 Motor type Deceleration Ratio Oscillation Angle 60: 60W Servo motor 18 : 1/18 300: 300-degrees Applicable controller L Options See Options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable T1: XSEL-J/K T2: SCON SSEL XSEL-P/Q XSEL-R/S * See page Pre-47 for details on the model descriptions. Cable length Mini *CE compliance is optional. Standard Controllers Integrated Table/ Arm/ Flat Type Mini Standard Appendix P.5 Gripper/ Rotary Type (1) The thrust load is the mechanical strength of the output axis at rest. When selecting, take into account the load moment and the load inertia. (2) The rated acceleration while moving is 0.3G. Linear Servo Type Cleanroom Type Actuator Specifications „„Lead and Payload „„Deceleration Ratio and Max. Speed Motor Output Deceleration Rated Torque Allowable Moment Oscillation Ratio (W) of Inertia (kg•m2) Angle (deg) (N•m) Model number SplashProof Type RCS2-RT6-I-60-18-300- ➀ - ➁ - ➂ -L 60 1/18 2.5 x 10-2 or less 2.4 Oscillation Angle Deceleration ratio 300 300 (deg) 1/18 500 Code explanation  Applicable Controller ➁ Cable Length ➂ Options Stroke  Cable Length Oscillation Angle (deg) Standard price 300 — Type Standard Special length Pulse Motor Robot Cable Servo Motor (24V) Standard Price — — — — — — — — — — — * See page A-59 for cables for maintenance. Actuator Specifications  Options Servo Motor (200V) Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m) Name CE compliance Limit switch (standard) Linear Servo Motor 415 RCS2-RT6 Option code CE L See page ➝ A-42 ➝ A-51 Standard price — — Item Drive System Positioning repeatability Lost motion Base Allowable load moment Thrust load Ambient operating temperature, humidity Description Ball speed reducer ±0.02 degrees 0.1degrees or less Material: Aluminum, white alumite treated Ma: 6.8 N·m or less 100N or less 0 to 40oC, 85% RH or less (Non-condensing) RCS2 ROBO Cylinder Dimensional Drawings CAD drawings can be downloaded from the website. www.intelligentactuator.com Appendix P.15 2D CAD Slider Type Mini Standard Controllers Integrated (200) Cable joint connector *1 Rod Type Mini Standard 4-M6 depth 12 (13.3) Table/ Arm/ Flat Type 15 27 ø40 h7 50 64 ø12 h7 Controllers Integrated Mini 25 30 50 64 5 41.5 50 103.5 12 101 234.5 Secure at least 40 Standard (*1) The motor cable, encoder cable, and limit switch cable are connected here. See page A-59 for details on cables. Gripper/ Rotary Type Linear Servo Type Cleanroom Type Weight (kg) 1.9 SplashProof Type Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application. Name External view Model number Features Up to 512 positioning points are supported. Positioner mode Actuators can be operated through the same control used for solenoid valves. Solenoid valve mode SCON-CA-60I-NP-2- Maximum number of positioning points — Dedicated pulse-train input type (–) 256 points Program control type, 1 to 2 axes SSEL-CS-1-60I-NP-2- Program operation is supported. Up to 2 axes can be operated. Program control type, 1 to 8 axes XSEL- -1-60I-N1-EEE-2- * This is for the single-axis MSCON, SSEL, and XSEL. * indicates the XSEL type (J / K / P / Q / R / S). * indicates field network specification symbol. * * ➝ P643 218 VA max. Pulse-train input control type Up to 6 axes can be operated. Movement by numerical specification is supported. Standard Reference price page 7 points Movement by numerical specification is supported. MSCON-C-1-60- -0- Power supply capacity 512 points Field network type Positioner multi-axis, network type Input power 768 points Single-phase * Power supply 100VAC — capacity will Single-phase vary depending 200VAC on the 3-phase 200VAC (XSEL-P/Q/R/S ONLY) controller, so please refer to the instruction manual for details. Pulse Motor — — ➝ P655 20,000 points — ➝ P685 Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected — ➝ P695 indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V). indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V / 3: Three-phase 200 V). RCS2-RT6 Servo Motor (24V) Servo Motor (200V) Linear Servo Motor 416