ROBO Cylinder RCP2 Actuator Gripper Type Standard Specification Small Two-finger Slide Type: GRSS Small Two-finger Lever Type: GRLS Medium Two-finger Type: GRS / GRM Two-finger Type with High Gripping Force: GRHM / GRHB Two-finger Long-stroke Type: GRST Three-finger Slide Type: GR3SS / GR3SM Three-finger Lever Type: GR3LS / GR3LM RCP2CR Actuator Gripper Type Cleanroom Specification Small Two-finger Slide Type: Small Two-finger Lever Type: GRSS GRLS RCP2W Actuator Gripper Type Dust-proof Specification Sma
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product co ntains operation manuals for IAI products.
Note Greasing Actuators of Cleanroom Specification For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising type for cleanroom applications. The grease specified in the maintenance/inspection sections of the Operating Manual is for actuators of standard specification. Using the grease for the standard actuators on the cleanroom actuators may generate dust. Recommended grease: C Grease by Kuroda Precision Industries Ltd.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide.................................................................................................................................. 1 Handling Precautions .................................................................................................................... 8 1. Names of Gripper Parts......................................................................................................... 9 1.1 Small Two-finger Slide Type (Standard) (RCP2-GRSS).....................
[RCP2-GR3LS] ..................................................................................................................... 34 [RCP2-GR3LM] ..................................................................................................................... 35 4.2 Gripper Brackets (Optional) ............................................................................................... 36 [RCP2-GRSS/GRLS, RCP2CR-GRSS/GRLS, RCP2W-GRSS/GRLS] ................................. 36 [RCP2-GRS] .............
6. Notes on Use........................................................................................................................ 57 6.1 Finger Operation ................................................................................................................ 57 6.2 Removal of Gripped Work Part .......................................................................................... 59 6.3 Adjustment of Gripping Force ...........................................................................
Dust-proof Specification [RCP2W-GRLS] ............................................................................. 97 [RCP2-GRS] ......................................................................................................................... 98 [RCP2-GRM] ......................................................................................................................... 99 [RCP2-GRHM] .............................................................................................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Handling Precautions 1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. Doing so may result in vibration, failure or shorter life. In synchronized operation of combined axes, adjust the speed and acceleration/deceleration to the maximum speed and minimum acceleration/deceleration among the combined axes, respectively.
1. Names of Gripper Parts 1. Names of Gripper Parts The name of each part of the gripper is shown below. 1.
Small Two-finger Slide Type (Cleanroom Specification) (RCP2CR-GRSS) 1. Names of Gripper Parts 1.
1.3 Small Two-finger Slide Type (Dust-proof Specification) (RCP2W-GRSS) 1.
Small Two-finger Lever type (Standard) (RCP2-GRLS) 1. Names of Gripper Parts 1.
1.5 Small Two-finger Lever type (Cleanroom Specification) (RCP2CR-GRLS) 1.
Small Two-finger Lever type (Dust-proof Specification) (RCP2W-GRLS) 1. Names of Gripper Parts 1.
1.7 Medium Two-finger Type (RCP2-GRS/GRM) 1.
Two-finger Type with High Gripping Force (RCP2-GRHM/GRHB) 1. Names of Gripper Parts 1.
1.9 Two-finger Long-stroke Type (RCP2-GRST) 1.
1. Names of Gripper Parts 1.
1.11 Three-finger Lever Type (RCP2-GR3LS/GR3LM) 1.
2. Checking the Product 2. Checking the Product If based on a standard configuration, this product consists of the items listed below. Caution: Check the packed items against the packing specification. Should you find a wrong model or any missing item, please contact your IAI dealer or IAI. 2.1 Components No. 1 Name Model Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.” Actuator Remarks Accessories 2 Quick Step Guide 3 Operation Manual (CD/DVD) 4 Safety Guide 2.
2.
3. Installation Environment, Storage Environment 3.1 Installation Environment Install the gripper in an environment meeting the conditions listed below. 3. Installation Environment, Storage Environment Not be exposed to direct sunlight. Be free from irradiating heat coming from a heat treatment furnace or other equipment that generates a large amount of heat. Have surrounding air temperature of 0 to 40°C. Have humidity of 85% or below (non-condensing).
4. Installation Method 4.1 Installing the Gripper The surface on which the gripper is installed must be machined or otherwise have a flat surface of equivalent precision. 4. Installation Method The effective thread depths of holes will vary depending on the gripper model and installation surface. Determine the lengths of screws to be used by referring to the figure below. (Never use long screws exceeding the effective thread depth.
[RCP2CR-GRSS] 4. Installation Method The cleanroom specification structurally allows installation on four surfaces. Installation is not possible on the top surface due to the suction joint.
[RCP2-GRLS, RCP2W-GRLS] The actuator can be mounted and affixed on five surfaces. 2- 3 depth 3 (Same on opposite side) 4. Installation Method depth 5 (Same on opposite side) depth 3 (Same on opposite side) 2- 3 depth 3 3 depth 3 (Same on opposite side) depth 5 depth 3 (Same on opposite side) depth 5 depth 5 (Same on opposite side) Warning Caution Some of the tapped holes used for installing the gripper are through holes.
[RCP2CR-GRLS] 4. Installation Method The cleanroom specification structurally allows installation on four surfaces. Installation is not possible on the top surface due to the suction joint. 2- 3 depth 3 3 depth 3 (Same on opposite side) depth 5 depth 2.
[RCP2-GRS] 4. Installation Method Installation surface Installation surface Installation surface depth 2.5 2- 3 (Same on back side) depth 7 (Same on back side) 3 depth 2.5 depth 6 depth 2.5 depth 2.5 (Same on back side) Warning Rear Caution Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.
[RCP2-GRM] Installation surface 4. Installation Method Installation surface Installation surface 2- 3 depth 2.5 (Same on back side) depth 7 (Same on back side) 3 depth 2.5 depth 6 depth 2.5 depth 2.5 (Same on back side) Warning Rear Caution Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.
[RCP2-GRHM] Installation surface 4. Installation Method Installation surface Installation surface depth 5 (same on the opposite side) 2-M5, depth 10 (same on the opposite side) long hole depth 5 4-M5, depth 8 depth 5 long hole depth 5 (same on the opposite side) Warning Caution Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.
[RCP2-GRHB] 4. Installation Method Installation surface Installation surface depth 6 (same on the opposite side) Installation surface 2-M6, depth 12 (same on the opposite side) long hole depth 6 4-M6, depth 10 depth 6 long hole depth 6 (same on the opposite side) Warning Caution Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.
[RCP2-GRST] The actuator is structured in such a way that it can be secured on one of its three sides. Stroke Installation surface Installation surface 4. Installation Method depth 3 Installation surface depth 3 3 (Same on back side) depth 5 (Same on back side) depth 6 (Same on back side) depth 3 3 depth 3 Rear Warning Caution Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long screws exceeding the effective thread length.
57 57 4. Installation Method [RCP2-GR3SS] depth 8 (Same on back side) (Effective depth 6) Blank plug (Set screw M4 x 5) 59 Installation surface depth 3 (Same on back side) Installation surface 4- 4.5 (Use holes in the flange) 2- 3 Installation surface Installation surface Detail view of A (2:1) depth 3 (Same on back side) Rear (Note) If the gripper is installed from the rear side, remove the blank plugs from the tapped holes.
75 4. Installation Method 75 [RCP2-GR3SM] 4- 5.5 Detail view of A (2:1) depth 3 (Same on back side) depth 12 Installation surface (Same on back side) (Effective depth 7) Blank plug (Set screw M5 x 6) Installation surface 2- 3 Installation surface Installation surface (Use holes in the flange) depth 㸱 (Same on back side) Rear (Note) If the gripper is installed from the rear side, remove the blank plugs from the tapped holes.
57 57 4. Installation Method [RCP2-GR3LS] Detail view of A (2:1) depth 3 4- 4.5 (Same on back side) 59 Installation surface depth 8 (Effective depth 6) Blank plug (Set screw M4 x 5) Installation surface (Use holes in the flange) (Same on back side) Installation surface Installation surface 2- 3 depth 3 (Same on back side) Rear (Note) If the gripper is installed from the rear side, remove the blank plugs from the tapped holes.
75 4- 5.5 Detail view of A (2:1) Installation surface 2- 3 depth 3 (Effective depth 7) (Same on back side) depth 12 Installation surface (Same on back side) Blank plug (Set screw M5 x 6) Installation surface (Use holes in the flange) Installation surface 4. Installation Method 75 [RCP2-GR3LM] depth 3 (Same on back side) Rear (Note) If the gripper is installed from the rear side, remove the blank plugs from the tapped holes.
4.2 Gripper Brackets (Optional) Optional brackets that can be installed on the rear face of the gripper are available. The external dimensions of each optional bracket are shown below. 4. Installation Method [RCP2-GRSS/GRLS, RCP2CR-GRSS/GRLS, RCP2W-GRSS/GRLS] Shaft bracket If a flange bracket is used, it is recommended that a relief space be provided at the shaft end structure of the mating part as shown in the figure on the right.
[RCP2-GRS] 4.
4.
depth 25 [RCP2-GR3SS/GR3LS] 4.
4.3 Installation of Finger Attachments The finger attachments are provided by the customer. Installation dimensions for finger attachments [RCP2-GRSS] 4.
[RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS] depth 2.5 4-M4, through 4.
[RCP2-GRS] 4.
[RCP2-GRHM] depth 5 33.5 33.5 Home 6.5 4-M4, depth 6 4. Installation Method 33.5 Do not use the screw holes at the center of the finger. 6.5 Home [RCP2-GRHB] 4-M4, depth 6 39.5 Home 42.5 39.5 depth 5 39.5 Do not use the screw holes at the center of the finger.
[RCP2-GRST] 4.
[RCP2-GR3SS] depth 5 4.
[RCP2-GR3LS] 4.
Positioning in open/close and vertical directions To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. It is also recommended that a clearance of 3 mm or more be provided between the attachments so that the gripped work part can be removed by turning the opening/closing screw in the event of power outage.
[RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS] Shoulder contact surface 4. Installation Method Open/close directions Positioning in open/close direction Lever attachment Lever Positioning pin Vertical directions Positioning in vertical direction Affixing bolt M4 Warning Caution When installing or removing an attachment to/from a finger, tighten the mounting bolts while securely holding the attachment with a spanner wrench, etc., to prevent the guide from receiving any load or impact.
To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. [RCP2-GRS/GRM] Positioning pin Open/close directions 4.
To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. 4.
[RCP2-GRST] Vertical directions Finger attachment Positioning pin Positioning in open/ close directions Open/close directions 4. Installation Method Shoulder contact surface Affixing bolt Positioning in vertical directions Finger Warning Caution When installing or removing the attachment to/from the finger, tighten the screw while holding the attachment with a spanner wrench, etc., so that the guide will not receive any load or impact. The tapping holes are through holes.
4. Installation Method Vertical directions [RCP2-GR3SS/GR3SM] Shoulder contact surface Positioning in vertical directions Affixing bolt Finger Shoulder contact surface Open/close directions Finger attachment Positioning pin Positioning in open/close directions Warning Caution When installing or removing the attachment to/from the finger, tighten the screw while holding the attachment with a spanner wrench, etc., so that the guide will not receive any load or impact.
[RCP2-GR3LS/GR3LM] Shoulder contact surface Shoulder contact surface Positioning in vertical directions Positioning in vertical directions Positioning pin Positioning in longitudinal directions Stopper contact surface Positioning in longitudinal directions (Pay attention not to allow the finger attachments and tightening bolts to contact the front cover.) Home return direction (Offset) 4.
5. Cable Connection 5.1 Connecting the Controller Plug the connector attached at the end of the gripper cable into the controller. For connection of I/O cable, controller power cable, and PC connection cable, refer to operation manuals for controller and PC software. When an application system is constructed using actuator and controller, if cable installation and connection are not done correctly, unexpected troubles such as disconnection or loose connection of cables may occur.
Do not pinch, drop a heavy object onto or cut the cable. When fixing the cable, provide a moderate slack and do not tension it too tight. 5. Cable Connection Do not use a spiral tube where the cable flexes frequently. Please note the following points when using the cable track. The cable supplied with the gripper is not a robot cable. Never store this cable in a cable track. Always use a robot cable for the extension cable.
Do not cause the cables to occupy more than 60% of the space in the cable track. Cable track Cable Do not lay signal lines together with circuit lines that create a strong electric field. 5. Cable Connection Power line Duct Signal lines (flat cable) 5.2 Securely connect the cable to the GRHM/GRHB connector by making sure the cable does not receive any undue load. Checks after Installation Once the gripper is installed, check the following items.
6. Notes on Use 6.1 Finger Operation Finger stroke The design stroke of the two-finger type is a sum of travel distances of both fingers. In other words, the travel distance of one finger is one-half the design stroke. Home return direction The moving end on the opening side of the finger (closer to the side cover) defines the home position. Caution 6.
[Two-finger Type] Finger 6. Notes on Use Travel distance per finger L1 Home return direction Stroke Travel distance per side L1/ Angle Distance between fingers L2/ Angle Stroke Travel distance per side L1 Distance between fingers L2 Stroke Travel distance per side L1 Distance between fingers L2 RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS 8 mm RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS 180 4 mm 90 Max. 13.5 mm/ Min. 5.5 mm Max. 180 / Min. 0 RCP2-GRM 14 mm 7 mm Max. 15 mm/ Min. 1 mm RCP2-GRS 10 mm 5 mm Max.
6.2 Removal of Gripped Work Part This gripper is structured in such a way that the work part-gripping force will be maintained by means of self-lock even after the controller power is cut off. If the gripped work part must be removed while the controller power is cut off, turn the opening/closing screw or remove the finger attachment on one side to release the work part.
[Three-finger Type (RCP2-GR3SS/GR3SM, RCP2-GR3LS/GR3LM)] Remove one finger attachment. 6. Notes on Use Finger attachment Affixing bolt [Two-finger Long-stroke Type (RCP2-GRST)] Open/close screw Turn the screw counterclockwise using a screwdriver. Open directions Finger attachment Affixing bolt Caution Note If the gripped work part must be removed while the controller power is cut off, turn the opening/closing screw or remove the finger attachment on one side to release the work part.
6.3 Adjustment of Gripping Force The gripping force is freely adjustable via push-motion setting within a range of 20 to 70% of the currentlimiting value of the controller. * The gripping force shown in the graphs below indicates a sum of gripping forces of both fingers. Small two-finger slide type (RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS) Small two-finger lever type (RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS) Gripping force (N) Gripping force (N) 6.
Gripping force (N) Gripping force (N) 6.
Gripping force (N) Gripping force (N) Current-limiting value (%) Caution 6. Notes on Use Gripping point [Two-finger Type with High Gripping Force (RCP2-GRHM, GRHB)] Current-limiting value (%) Note IAI does not guarantee the precision of relationship between push force (gripping force) and currentlimiting value. The above values are provided only for reference. If the push force is too small, the push force itself may fluctuate or the gripper may malfunction due to slide resistance, etc.
[Two-finger Long-stroke Type (RCP2-GRST)] The gripping force shown in the graphs below indicates a sum of gripping forces of both fingers. 6.
[Three-finger Slide Type (RCP2-GR3SS/GR3SM)] Gripping force (N) Gripping force (N) Gripping point L 6.
F = Gripping force (N) F = Gripping force (N) Gripping point L 6. Notes on Use [Three-finger Lever Type (RCP2-GR3LS/GR3LM)] Current-limiting value (%) * The above values are calculated at a gripping point of 10 mm. The actual gripping force decreases in inverse proportion to the distance from the open/close fulcrum.
6.4 Guide to Determining Maximum Work Part The maximum work part mass that can be transferred by the gripper will vary depending on the coefficient of friction determined by the finger material and work part material, and also depending on the shape of the work part. Normally, the work part should weigh between 1/10th to 1/20th the gripping force.
6.6 Notes on Transferring Work Parts 6. Notes on Use When the gripper is used to transfer work parts, allowing a strong force or impact to apply to the fingers, beside the gripping force, may cause the fingers to displace, become loose or sustain damage. To prevent these unwanted consequences, pay due attention to the following points: Provide a horizontal play (compliance) with respect to the gripped work part. (Do not allow one finger to receive concentrated load when a work part is gripped.
7. Cleanroom Specification (RCP2CR-GRSS, RCP2CR-GRLS) 7.1 About the Suction Amount To use as cleanliness class 10, inside of the body must be vacuumed. Connect an air piping on the 4mm-suction joint (provided at the customer side) to vacuum and perform vacuuming for the amount shown below with a device such as a vacuum pump, a blower, or an ejector. Recommend vacuum amount 10 NI/min Dust-proof Specification (RCP2W-GRSS, RCP2W-GRLS) 8.1 About the Dust-proof Capability 7.
9. Maintenance/Inspection Daily and periodic inspections are essential to making sure your gripper will operate safely and efficiently. Before carrying out each inspection, check the applicable maintenance/inspection items listed below. 9.1 Inspection Items and Schedule Conduct visual inspection and add grease at the applicable schedule specified below. The following schedule is based on eight hours of operation daily.
9.2 Visual Inspection of the Exterior In the visual inspection of the exterior, check the following items. Gripper Cables Overall 9.3 Loosening of gripper mounting bolts, etc. Scratches, proper connection of connectors Noise, vibration Exterior Cleaning Clean the exterior of the gripper as necessary. Use a soft cloth, etc., to wipe off dirt. Do not blow compressed air onto the gripper too strongly, in order to prevent dust from entering the gripper through small openings and gaps.
(2) How to apply grease [Small Two-finger Slide Type (RCP2-GRSS, RCP2W-GRSS)] [Small Two-finger Lever Type (RCP2-GRLS, RCP2W-GRLS)] Cover [1] In the case of dust-proof specification small two-finger slide type (RCP2W-GRSS), remove the rubber cover. Rubber covers have “notches” on them. Detach the notches when removing the rubber cover. [2] Using a 2.5-mm Allen wrench, turn the opening/closing screw at the center of the fingers to move the fingers toward the stroke center.
[Medium Two-finger Type (RCP2-GRS/GRM)] [1] Use a flathead screwdriver to turn the opening/closing screw on side cover L to move the fingers toward the stroke center. [2] Spray grease in the gap (i.e., over the rollers) between the finger and finger guide (4 locations; keep the spray time to a maximum of 1 second at each location). After spraying, turn the opening/closing screw to move the fingers back and forth several times to spread the grease evenly.
[Two-finger Type with High Gripping Force (RCP2-GRHM, GRHB)] [1] Use a flathead screwdriver to turn the opening/closing screw on side cover to move the fingers toward the stroke center. [2] Spray grease in the gap (on the steel balls) between the finger and finger guide (4 locations; keep the spray time to a maximum of 1 second at each location). After spraying, turn the opening/closing screw to move the fingers back and forth several times to spread the grease evenly.
9.4.2 (1) Guide: Cleanroom Specification Applicable grease The following grease is applied to the feed screw before the gripper is shipped from the factory. This is the grease that generates low dust. Kuroda Precision Industries C grease Warning (2) Never use a standard specification grease. This may generate dust. Never use a fluorine grease. If a fluorine grease is mixed with a lithium grease, chemical reaction may take place and the machine may suffer damage.
Cover [4] Attach the rubber cover in the case of small two-finger slide type (RCP2CR-GRSS). Small two-finger slide type (RCP2CR-GRSS) 9. Maintenance/Inspection Warning • Never use a fluorine grease. If a fluorine grease is mixed with a lithium grease, the lubricating function of grease will drop and the machine may suffer damage. • Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second, and never spray more than twice.
9.5 (1) Feed Screw Medium Two-finger Type (RCP2-GRS/GRM) Applicable grease The following grease is applied to the feed screw before the gripper is shipped from the factory. Idemitsu Kosan Daphne Eponex Grease No. 2 Use lithium spray grease during maintenance. Take note that grease should not be sprayed for more than 1 second. (2) [1] How to apply grease Remove the screws affixing side cover R and side cover L (countersunk head screw M2.6 x 6). Remove side cover R.
[3] Remove screws affixing guide covers R and L (2 pieces on each side). Slide the guide covers horizontally to the opening side and remove. (Countersunk head screw M2 x 3) Note: The cutout dimensions are different between guide covers R and L. Keep the removed guide covers properly so that they will not be mixed up when installed. 9. Maintenance/Inspection [4] [5] 78 Use a flathead screwdriver to turn the opening/closing screw on side cover L to move the fingers toward the opening side.
[6] Move the fingers to the closing side. Insert the guide covers from sides and affix with screws. Insert guide covers R and L on the correct sides. Side cover R [7] Side cover L Install and securely affix side covers R and L. When affixing side cover L, be careful not to pinch the cables. 9. Maintenance/Inspection Warning Never use fluorine grease.
9.6 (1) Two-finger Type with High Gripping Force Applicable grease Synthetic poly- olefin grease has been charged to the feed screw prior to shipment. The following grease is applied to the feed screw before the gripper is shipped from the factory. Lubricant by Sumitomo Metal Mining Sumitec 308 Other manufacturers also offer equivalent products, but exercise caution when using a different product because the life of the actuator may be affected depending on the selected grease.
Turn the opening/closing screw to move the fingers to their stroke ends on the closed side. Use a grease syringe to charge grease from the opening on the right side so as to coat the feed screw with grease. After the feed screw has been coated with grease roughly, turn the opening/closing screw to move the fingers back and forth several times to spread grease evenly. [4] [5] Turn the opening/closing screw to move the fingers to their stroke ends on the open side.
9.7 Greasing the Two-finger Long-stroke Type (RCP2-GRST) 9.7.1 (1) Greasing to the Feed Screw (Worm/Rack Gears) Applicable grease This actuator uses lithium grease No. 2. During maintenance, use spray-type lithium grease. Do not spray grease for more than 1 second. The following grease is applied to the guide before the gripper is shipped from the factory. Idemitsu Kosan (2) Daphne Eponex Grease No. 2 How to apply grease 9. Maintenance/Inspection Apply grease through gaps along the top cover.
9.7.2 (1) Greasing to the Guide Applicable grease This actuator uses lithium grease No. 2. During maintenance, use spray-type lithium grease. Do not spray grease for more than 1 second. The following grease is applied to the guide before the gripper is shipped from the factory. Idemitsu Kosan (2) Daphne Eponex Grease No. 2 How to apply grease Remove the screws from the side cover P. (Cross-recessed head machine screw for precision equipment M2 x 4) [2] Remove the screws from the fingers L and R.
[3] Slide the top cover and pull it out.. [4] Spray grease into the gaps along the LM guide. Apply grease at a total of four locations on the left and right guide blocks.. Do not spray grease for more than 1 second in each location. [5] After grease has been applied, turn the opening/closing screw to move the fingers back and forth several times to spread the grease evenly. Wipe off excess grease or grease that has scattered.
Warning Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of grease will drop and the machine may suffer damage due to increased friction. Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second, and never spray more than once. If too much grease is applied, excess grease may flow into the electronic components and cause malfunction.
9.8 Greasing the Three-finger Gripper 9.8.1 Slide Type Greasing the Guide (1) Applicable grease The following grease is applied to the guide before the gripper is shipped from the factory. Idemitsu Kosan Daphne Eponex Grease No. 2 Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second. (2) How to apply grease 9.
9.8.2 Lever Type Greasing the Gears (1) Applicable grease The following grease is applied to the gears before the gripper is shipped from the factory. Kyodo Yushi Multemp AC-D No. 2 Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second. (2) How to apply grease Open/close screw Use a flathead screwdriver to turn the opening/closing screw located deep at the center clockwise to move the levers toward the ends of their respective strokes.
10. Specifications 10.1. Specification List Open/close stroke Maximum gripping force Maximum open/close speed Stopping repeatability Backlash Lost motion Allowable load moment (*2) Small two-finger type Slide type Lever type RCP2-GRSS RCP2-GRLS RCP2CR-GRSS RCP2CR-GRLS RCP2W-GRSS RCP2W-GRLS 8 mm 180 deg (4 mm per side) (90 deg per side) 14 N 6.4 N 78 mm/sec 600 deg/sec (Per side) (Per side) 0.01 mm 0.01 deg 0.1 mm max. 1 deg max. on each side *1 on each side *1 0.05 mm max. 0.1 deg max.
Long-stroke type Open/close stroke Maximum gripping force Maximum open/close speed Stopping repeatability Backlash Allowable load moment Position detection method Finger drive method Finger guide structure Gripper weight Maximum gripping force Maximum open/close speed Stopping repeatability Backlash Lost motion Allowable load moment (*2) Position detection method Finger drive method Finger guide structure Gripper weight *1 *2 75 mm/s 34 mm/s 0.01 mm 0.2 mm max. on each side Ma: 2.93 N-m Mb: 2.
10.2 Cable Wiring Diagram 10.2.1 [1] Small Two-finger Slide Type (RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS), Small Two-finger Lever Type (RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS) Two-finger Long-stroke type (RCP2-GRST) Two-finger Type with High Gripping Force (RCP2-GRHM, GRHB) Integrated motor/encoder cable Model: CB-PCS-MPA (Front view) (Front view) Controller end Actuator end 10. Specifications Signal Pin no.
10.2.2 [1] Medium Two-finger Type (RCP2-GRS, RCP2-GRM), Three-finger Slide Type (RCP2GR3SS, RCP2-GR3SM), Three-finger Lever Type (RCP2-GR3LS, RCP2-GR3LM) Motor cable Model: CB-RCP2-MA (Front view) (Front view) Controller end Actuator end M cable Orange Gray White Yellow Pink Yellow Gray Orange Orange (black 1) 10.
10.3 External Dimensions [RCP2-GRSS] depth 3 (Same on opposite side) depth 5 (Same on opposite side) depth 3 (Same on opposite side) depth 3 (Same on opposite side) depth 3 10. Specifications depth 4 depth 5 (Same on opposite side) depth 3 (Same on opposite side) Weight [kg] 92 0.
Cleanroom Specification [RCP2CR-GRSS] (Same on opposite side) depth 3 (Same on opposite side) depth 3 10. Specifications depth 5 depth 5 (Same on opposite side) depth 3 depth 3 (Same on opposite side) depth 3 depth 5 depth 3 Weight [kg] 0.
Dust-proof Specification [RCP2W-GRSS] depth 3 (Same on opposite side) (Same on opposite side) depth 3 (Same on opposite side) depth 5 (Same on opposite side) 10. Specifications depth 3 (Same on opposite side) depth 5 (Same on opposite side) depth 3 depth 5 depth 3 depth 3 (Same on opposite side) Weight [kg] 94 0.
[RCP2-GRLS] depth 3 (Same on opposite side) depth 5 (Same on opposite side) depth 3 (Same on opposite side) depth 2.5 depth 3 depth 3 (Same on opposite side) 4-M4, through depth 5 (Same on opposite side) 10. Specifications depth 3 depth 5 depth 3 (Same on opposite side) Weight [kg] 0.
Cleanroom Specification [RCP2CR-GRLS] depth 2.5 depth 3 (Same on opposite side) , through 10. Specifications depth 3 depth 5 depth 5 depth 3 (Same on opposite side) Weight [kg] 96 0.
Dust-proof Specification [RCP2W-GRLS] depth 3 (Same on opposite side) depth 3 (Same on opposite side) depth 5 (Same on opposite side) depth 2.5 depth 3 (Same on opposite side) , through depth 3 10. Specifications depth 5 depth 5 depth 3 (Same on opposite side) depth 3 (Same on opposite side) Weight [kg] 0.
[RCP2-GRS] depth 2.5 (Same on opposite side) depth 8 depth 7 depth 2.5 depth 6 10. Specifications depth 2.5 (Same on opposite side) depth 2.5 (Same on opposite side) Weight [kg] 98 0.
Open [RCP2-GRM] depth 2.5 (Same on opposite side) depth 8 depth 2.5 depth 6 depth 2.5 depth 8 (Same on opposite side) 10. Specifications depth 2.5 (Same on opposite side) Weight [kg] 0.
[RCP2-GRHM] 4-M4, depth 6 depth 5 (Same on opposite side) depth10 (Same on opposite side) 33.5 33.5 33.5 Home 4 depth 8 long hole depth 5 depth 5 6.5 4 2- 4 depth 5 long hole depth 5 (Same on opposite side) 10. Specifications 6.5 At least 100 or more Home Home Left side Bottom side Weight [kg] 100 1.
[RCP2-GRHB] 4-M4, depth 6 5H7 Home depth 6 (Same on opposite side) depth 10 depth12 (Same on opposite side) 39.5 39.5 39.5 5H7 depth 6 Home At least 100 or more 42.5 depth 5 long hole depth 6 2- 4 long hole depth 6 (Same on opposite side) 10. Specifications Home Left side Bottom side Weight [kg] 1.
[RCP2-GRST] depth 5 depth 3 Unlocking screw depth 3 10. Specifications (Same on opposite side) depth 3 depth 3 depth 5 Stroke L M N Weight [kg] 102 (Same on opposite side) depth 3 depth 6 (Same on opposite side) 40 130 71.5 57.5 0.51 60 150 81.5 67.5 0.56 80 170 91.5 77.5 0.61 100 190 101.5 87.5 0.
[RCP2-GR3SS] depth 5 9 counterbore, depth 1.5 M8 (Effective depth 6) Installation surface depth (Same on back side) depth 8 (Same on back side) 3 3-M4 (Effective depth 6) Blank plug (Set screw M4 x 5) Installation surface 10. Specifications Installation surface (Same on opposite side) Weight [kg] depth 3 (Same on back side) 0.
[RCP2-GR3SM] depth 6 9 counterbore, depth 1.5 M8 (Effective depth 6) Installation surface depth 3 (Same on back side) depth 12 3-M5 (Effective depth 7) Blank plug (Set screw M5 x 6) Installation surface 10. Specifications (Same on back side) Installation surface (Same on opposite side) Weight [kg] 104 1.
[RCP2-GR3LS] (Effective depth 4) Installation surface depth 3 (Same on back side) depth 8 3-M4 (Effective depth 6) Blank plug (Set screw M4 x 5) Installation surface (Same on back side) 10. Specifications Installation surface Weight [kg] (Same on opposite side) depth 3 (Same on back side) 0.
[RCP2-GR3LM] (Effective depth 4) Installation surface depth 3 (Same on back side) depth 12 3-M5 (Effective depth 7) Blank plug (Set screw M5 x 6) Installation surface 10. Specifications (Same on back side) Installation surface (Same on opposite side) Weight [kg] 106 depth 3 (Same on back side) 1.
11. Appendix 11.1 Notes on Use Regarding the Gripping Force Upon using, the following conditions must be satisfied. 11.1.
Step 2 : Check the allowable vertical loads and allowable moments of the finger Check the vertical loads and moments applied to the finger. Calculate Fz, Ma, Mb and Mc by referencing (1) and (3) explained below and select a model with which the allowable values will not be exceeded. Fig. 1 Loads and Moments Applied to the Finger Finger Reactive force of gripping the work part Finger attachment Gripping point 11.
(1) Moment generating around the finger due to the gripping force [1] Ma moment [MIa] • Two-finger type *Note 4 • Three-finger type *Note 4 FG: Gripping force of the gripper (N) [2] Mb moment [MIb] • Two-finger type *Note 4 • Three-finger type: Need not be calculated.
Note 1: The upper limits of LG and HG shall conform to the graph below. If they exceed the limit ranges specified, an excessive moment will act upon the finger sliding areas and internal mechanical parts and the life of the actuator may be negatively affected. Two-finger gripper Upper Limits of Gripping Point LG and Overhang HG of Two-finger Gripper Overhang HG (mm) Fig. 2 Gripping point HG (mm) Three-finger gripper Fig. 3 Upper Limit of Gripping Point LG of Three-finger Gripper 11.
11.1.2 Lever Type Step 1: Check the required gripping force and work part mass that can be transferred Step 2: Check the inertial moments applied to the finger attachment (finger) Step 3: Check the external forces applied to the finger Step 1: Check the required gripping force and work part mass that can be transferred Friction coefficient Calculate the required gripping force by following the same operation in step 1 explained for the slide type, to confirm that the required condition is met.
(3) Total inertial moment around the Z-axis (fulcrum) Table 2 Allowable Inertial Moments of Fingers *Note 1 R1: Distance from the center of gravity of A to the finger opening/closing fulcrum [mm] R2: Distance from the center of gravity of B to the finger opening/closing fulcrum [mm] Model RCP2-GRLS RCP2-GR3LS RCP2-GR3LM Allowable inertial Mass (reference value) moment 2 max [kg] Imax [kg m ] 1.5 x 10-4 0.05 3.0 x 10-4 0.1 9.0 x 10-4 0.
Torque generating on the finger due to an external force Confirm that the value calculated above is equal to or less than the applicable maximum allowable load torque in Table 3. Table 3 Allowable Load Torques of Fingers *Note 1 Maximum allowable load torque Model Tmax [N m] RCP2-GRLS 0.05 RCP2-GR3LS 0.1 RCP2-GR3LM 0.
11.2 Notes on Transferring Work Parts If the fingers receive a strong force or impact other than the gripping force when transferring work parts, the finger positions may deviate, looseness may occur or damage may result. Accordingly, pay due attention to the points listed below. Cause the center of gravity of the work part to match the gripping point as much as possible. If the two are not aligned, gravitational moments will force the work part to assume an unstable posture.
Avoid using the gripper in a manner where it press-fits a gripped work part into a hole or pulls out a work part that has been press-fit. Do not press-fit a work part. Do not pull out a press-fit work part. Avoid pushing a work part against a jig, etc., at the end of the movement stroke when the work part is moved or reversed. 11. Appendix Do not push a work part. Do not push a work part.
12. Warranty 12.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location 12.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
12.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Change History Revision Date November 2008 Description of Revision Fifth edition Descriptions for the following grippers have been added. Cleanroom specification Small two-finger slide type RCP2CR-GRSS Small two-finger lever type RCP2CR-GRLS Dust-proof specification Small two-finger slide type RCP2W-GRSS Small two-finger lever type RCP2W-GRLS December 2008 April 2010 October 2010 Sixth edition Descriptions for the following grippers have been added.
Manual No.: ME3627-10A (March 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.