5 Gripper and Rotary types - Intelligent Actuator
5 Gripper and Rotary types - Intelligent Actuator
5 Gripper and Rotary types - Intelligent Actuator
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<strong>Gripper</strong> Type/<strong>Rotary</strong> Type<br />
<strong>Gripper</strong> Type/<strong>Rotary</strong> Type<br />
RCP2<br />
RCS2<br />
RCP2-GRSS<br />
RCP2-GRLS<br />
RCP2-GRS<br />
RCP2-GRM<br />
RCP2-GRST<br />
RCP2-GR3LS<br />
RCP2-GR3SS<br />
RCS2-GR8<br />
RCP2-<br />
RTBS/RTBSL<br />
RCP2-<br />
RTB/RTBL<br />
RCP2-<br />
RTBB/RTBBL<br />
RCP2-<br />
RTCS/RTCSL<br />
RCP2-<br />
RTC/RTCL<br />
RCP2-<br />
RTCB/RTCBL<br />
RCS2-RT6<br />
RCS2-RT6R<br />
RCS2-RT7R<br />
331 <strong>Gripper</strong><br />
Type / <strong>Rotary</strong> Type
<strong>Gripper</strong> Type/<strong>Rotary</strong> Type<br />
Slider<br />
Type<br />
RCP2<br />
series<br />
Pulse<br />
Motor<br />
Type<br />
2-Finger <strong>Gripper</strong> Mini Slider Type 42mm Width RCP2-GRSS<br />
Mini Lever Type 42mm Width RCP2-GRLS<br />
Small Slider Type 69mm Width RCP2-GRS<br />
Medium Slider Type 74mm Width RCP2-GRM<br />
Long Stroke Slider Type<br />
130mm Width<br />
190mm<br />
RCP2-GRST<br />
3-Finger <strong>Gripper</strong> Lever Type 62mm Width RCP2-GR3LS<br />
80mm Width RCP2-GR3LM<br />
333<br />
335<br />
337<br />
339<br />
341<br />
343<br />
345<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Slider Type 62mm Width RCP2-GR3SS<br />
80mm Width RCP2-GR3SM<br />
347<br />
349<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
RCS2<br />
series<br />
200V Servo<br />
Motor<br />
Type<br />
2 Finger <strong>Gripper</strong> Long Stroke Slider Type 104mm Width<br />
284mm<br />
RCS2-GR8<br />
351<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
RCP2<br />
series<br />
Pulse<br />
Motor<br />
Type<br />
<strong>Rotary</strong> Small Vertical Type 45mm Width RCP2-RTBS / RTBSL<br />
Small Flat Type 72mm Width RCP2-RTCS / RTCSL<br />
Medium Vertical Type 50mm Width RCP2-RTB / RTBL<br />
Medium Flat Type 88mm Width RCP2-RTC / RTCL<br />
Large Vertical Type 76mm Width RCP2-RTBB / RTBBL<br />
Large Flat Type 124mm Width RCP2-RTCB / RTCBL<br />
353<br />
355<br />
357<br />
359<br />
361<br />
363<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
RCS2<br />
series<br />
200V Servo<br />
Motor<br />
Type<br />
<strong>Rotary</strong> Motor Straight Type 64mm Width RCS2-RT6<br />
Side-Mounted Motor Type 64mm Width RCS2-RT6R<br />
Side-Mounted Motor, Hollow Axis Type 68mm Width RCS2-RT7R<br />
365<br />
367<br />
369<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
<strong>Gripper</strong> Type / <strong>Rotary</strong> Type 332
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
RCP2 ROBO Cylinder<br />
RCP2-GRSS<br />
ROBO Cylinder 2-Finger <strong>Gripper</strong> Mini Slider Type 42mm Width Pulse Motor<br />
Configuration:<br />
RCP2 GRSS I 20P 30 8<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option<br />
I: Incremental<br />
* The Simple<br />
absolute encoder<br />
is also considered<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
20P : 20 size<br />
Pulse motor<br />
30 : 1/30<br />
deceleration<br />
ratio<br />
8: 8mm<br />
(4mm per side)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
P : 1m<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
NM : Reversed-home<br />
FB : Flange bracket<br />
SB : Shaft bracket<br />
Gripping Force Adjustment<br />
The gripping (pushing) force can be adjusted freely<br />
within the range of current limits of 20% to 70%.<br />
Table/Arm<br />
/Flat Type<br />
* The gripping forces in the following diagrams<br />
indicate the sums of gripping forces of both fingers.<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Technical<br />
References<br />
P. A-5<br />
Gripping force (N)<br />
16<br />
14<br />
12<br />
10<br />
8<br />
6<br />
4<br />
2<br />
0 0 10 20 30 40 50<br />
Current Limit (% ratio)<br />
60 70<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this<br />
value.<br />
(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<br />
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the<br />
gripper fingers <strong>and</strong> the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should<br />
not exceed 1/10 to 1/20 of the gripping force.<br />
(See page A-74 for details.)<br />
(3) The rated acceleration while moving is 0.3G.<br />
* Please note that, when gripping (pushing),<br />
the speed is fixed at 5mm/s.<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-GRSS-I-20P-30-8- 1 - 2 - 3<br />
Deceleration<br />
Ratio<br />
Max. Gripping<br />
Force (N)<br />
30 14<br />
Stroke<br />
(mm)<br />
8<br />
(4 per side)<br />
Stroke <strong>and</strong> Maxi. Opening/Closing Speed<br />
Stroke<br />
Deceleration Ratio<br />
30<br />
8<br />
(mm)<br />
78<br />
ACON<br />
Legend: 1 Compatible controllers 2 Cable length 3 Options<br />
(Unit: mm/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Stroke List<br />
Stroke<br />
(mm)<br />
8<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
(Robot Cables)<br />
Special Lengths<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m)<br />
X11 (11m)<br />
X16 (16m)<br />
Cable Symbol<br />
X10 (10m)<br />
X15 (15m)<br />
X20 (20m)<br />
* The st<strong>and</strong>ard cable is the motor-encoder integrated robot cable.<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
3 Option List <strong>Actuator</strong> Specifications<br />
Name<br />
Reversed-home<br />
Flange bracket<br />
Shaft bracket<br />
333 RCP2-GRSS<br />
Option Code<br />
NM<br />
FB<br />
SB<br />
See Page<br />
A-33<br />
A-26<br />
A-36<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Backlash<br />
Lost Motion<br />
Guide<br />
Allowable Static Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Worm gear + helical gear + helical rack<br />
±0.01mm<br />
0.2mm or less per side (constantly pressed out by a spring)<br />
0.05mm or less per side<br />
Linear guide<br />
Ma: 0.5 N∙m Mb: 0.5 N∙m Mc: 1.5 N∙m<br />
0.2kg<br />
040°C, 85% RH or less (non-condensing)
)<br />
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* The opening side of the slider is the home position.<br />
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
+0. 03<br />
2-ø30<br />
depth 3<br />
(same for opposite side)<br />
Mini<br />
St<strong>and</strong>ard<br />
17<br />
17<br />
8.5<br />
Controllers<br />
Integrated<br />
43<br />
4<br />
8-M3 depth 5<br />
(same for opposite side)<br />
Cable joint<br />
connector*1<br />
Table/Arm<br />
/Flat Type<br />
+0. 05<br />
2-30<br />
depth 3<br />
(same for opposite side)<br />
Mini<br />
St<strong>and</strong>ard<br />
24<br />
2-M3 depth 4<br />
0<br />
-0.010<br />
2-ø3h7(<br />
2<br />
1.5<br />
71<br />
+0. 03<br />
2-ø30<br />
depth 3<br />
(same for opposite side)<br />
Secure at least 100<br />
9<br />
+0. 03<br />
ø30<br />
depth 3<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
5<br />
13.9<br />
42<br />
MAX 13.5<br />
MIN 5.5<br />
4.2<br />
35<br />
34<br />
17<br />
8.5<br />
4<br />
Splash-Proof<br />
0<br />
9-0.05<br />
47<br />
4<br />
8-M3 depth 5<br />
(same for opposite side)<br />
4-M3 depth 5<br />
Controllers<br />
+0. 05<br />
2-30<br />
depth 3<br />
(same for opposite side)<br />
+0. 05<br />
30<br />
depth 3<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.2<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
PMEC-C-20PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
P481<br />
See<br />
– P477<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PSEP-C-20PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
No homing necessary with simple absolute type.<br />
PSEP-CW-20PI-NP-2-0 –<br />
P487<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
PCON-C-20PI-NP-2-0<br />
–<br />
Safety-Compliant<br />
Positioner Type<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-20PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-20PI-NP-2-0<br />
PCON-PO-20PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-20PI-N-0-0 Dedicated to communication 64 points –<br />
Field Network Type RPCON-20P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-20PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100 240V).<br />
RCP2-GRSS 334<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
RCP2 ROBO Cylinder<br />
RCP2-GRLS<br />
I: Incremental 20P : 20 size<br />
* The Simple<br />
Pulse motor<br />
absolute encoder<br />
is also considered<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
ROBO Cylinder 2-Finger <strong>Gripper</strong> Mini Lever Type 42mm Width Pulse Motor<br />
Configuration:<br />
RCP2 GRLS I 20P 30 180<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option<br />
30 : 1/30<br />
deceleration<br />
180: 180<br />
degrees<br />
P1: PCON<br />
RPCON<br />
N : None<br />
P : 1m<br />
ratio (90 degrees per PSEL<br />
S : 3m<br />
M : 5m<br />
side) P3: PMEC<br />
X : Custom<br />
PSEP<br />
NM : Reversed-home<br />
FB : Flange bracket<br />
SB : Shaft bracket<br />
Gripping Force Adjustment<br />
The gripping (pushing) force can be adjusted freely<br />
within the range of current limits of 20% to 70%.<br />
Table/Arm<br />
/Flat Type<br />
* The gripping forces in the following diagrams<br />
indicate the sums of gripping forces of both fingers.<br />
Mini<br />
7<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Technical<br />
References<br />
P. A-5<br />
Gripping force (N)<br />
6<br />
5<br />
4<br />
3<br />
2<br />
1<br />
0 0 10 20 30 40 50 60 70<br />
Current Limit (% ratio)<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value.<br />
(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<br />
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the<br />
gripper fingers <strong>and</strong> the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should<br />
not exceed 1/10 to 1/20 of the gripping force.<br />
(See page A-77 for details.)<br />
(3) The rated acceleration while moving is 0.3G.<br />
* Please note that, when gripping (pushing),<br />
the speed is fixed at 5 degrees/s.<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-GRLS-I-20P-30-180- 1 - 2 - 3<br />
Deceleration Ratio<br />
Max. Gripping<br />
Force (N)<br />
30 6.4<br />
Stroke<br />
(deg)<br />
180<br />
(90 per side)<br />
Stroke <strong>and</strong> Maxi. Opening/Closing Speed<br />
Stroke<br />
Deceleration<br />
Ratio<br />
30<br />
180<br />
(deg)<br />
600<br />
ACON<br />
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: degrees/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Stroke List<br />
Stroke<br />
(deg)<br />
180<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
Cable Symbol<br />
St<strong>and</strong>ard Price<br />
P (1m)<br />
–<br />
St<strong>and</strong>ard Type<br />
S (3m)<br />
–<br />
(Robot Cables)<br />
M (5m)<br />
–<br />
X06 (6m) X10 (10m) –<br />
Special Lengths X11 (11m) X15 (15m) –<br />
X16 (16m) X20 (20m) –<br />
* The st<strong>and</strong>ard cable is the motor-encoder integrated robot cable.<br />
* See page A-39 for cables for maintenance.<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
3 Option List<br />
<strong>Actuator</strong> Specifications<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
Name<br />
Reversed-home<br />
Flange bracket<br />
Shaft bracket<br />
335 RCP2-GRLS<br />
Option Code<br />
NM<br />
FB<br />
SB<br />
See Page<br />
A-33<br />
A-26<br />
A-36<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Backlash<br />
Lost Motion<br />
Guide<br />
Allowable Static Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Worm gear + helical gear<br />
±0.01mm<br />
1 degree or less per side (constantly pressed out by a spring)<br />
1 degree or less<br />
−<br />
−<br />
0.2kg<br />
040°C, 85% RH or less (non-condensing)
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* The opening side of the slider is the home position.<br />
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
+0. 03<br />
2-ø30<br />
depth 3<br />
(same for opposite side)<br />
Rod<br />
Type<br />
17<br />
24<br />
Mini<br />
+0. 03<br />
2-ø40<br />
depth 2. 5<br />
4-M4 through<br />
45<br />
4<br />
17<br />
8-M3 depth 5<br />
(same for opposite side)<br />
+0. 05<br />
2-30<br />
depth 3<br />
(same for opposite side)<br />
+0. 03<br />
2-ø30<br />
depth 3<br />
(same for opposite side)<br />
Cable joint<br />
connector*1<br />
Secure at least 100<br />
9<br />
ø3 +0. 03<br />
0<br />
depth 3<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
9<br />
18<br />
42<br />
MAX 180<br />
MIN 0<br />
8.5<br />
17<br />
35<br />
4<br />
34<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
9<br />
4<br />
18<br />
36<br />
2-3+0. 05<br />
0 depth 3<br />
15.5<br />
49 (same for opposite side)<br />
8-M3 depth 5<br />
(same for opposite side)<br />
4-M3 depth 5<br />
+0. 05<br />
30<br />
depth 3<br />
Splash-Proof<br />
73<br />
Controllers<br />
66.5<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
55<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.2<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
PMEC-C-20PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PSEP-C-20PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
No homing necessary with simple absolute type.<br />
PSEP-CW-20PI-NP-2-0 –<br />
P487<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
PCON-C-20PI-NP-2-0<br />
–<br />
Safety-Compliant<br />
Positioner Type<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-20PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-20PI-NP-2-0<br />
PCON-PO-20PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-20P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-20PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-GRLS 336<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
RCP2 ROBO Cylinder<br />
RCP2-GRS<br />
ROBO Cylinder 2-Finger <strong>Gripper</strong> Mini Slider Type 69mm Width Pulse Motor<br />
Configuration:<br />
RCP2 GRS I 20P 1 10<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option<br />
I: Incremental<br />
* The Simple<br />
absolute encoder<br />
is also considered<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
20P : 20 size<br />
Pulse motor<br />
1 : 1/1<br />
deceleration ratio<br />
10: 10mm<br />
(5mm per side)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
P : 1m<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
SB : Shaft bracket<br />
FB : Flange bracket<br />
Gripping Force Adjustment<br />
The gripping (pushing) force can be adjusted freely<br />
within the range of current limits of 20% to 70%.<br />
Table/Arm<br />
/Flat Type<br />
* The gripping forces in the following diagrams<br />
indicate the sums of gripping forces of both fingers.<br />
Mini<br />
35<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Gripping force (N)<br />
30<br />
25<br />
20<br />
15<br />
10<br />
Linear Servo<br />
Type<br />
5<br />
0 0 10 20 30 40 50 60 70<br />
Current Limit ( ratio)<br />
Cleanroom<br />
Type<br />
Technical<br />
References<br />
P. A-5<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this<br />
value.<br />
(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<br />
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the<br />
gripper fingers <strong>and</strong> the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should<br />
not exceed 1/10 to 1/20 of the gripping force.<br />
(See page A-74 for details.)<br />
(3) The rated acceleration while moving is 0.3G.<br />
* Please note that, when gripping (pushing),<br />
the speed is fixed at 5mm/s.<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-GRS-I-20P-1-10- 1 - 2 - 3<br />
Deceleration<br />
Ratio<br />
Max. Gripping<br />
Force (N)<br />
1 21<br />
Stroke<br />
(mm)<br />
10<br />
(5 per side)<br />
Stroke <strong>and</strong> Maxi. Opening/Closing Speed<br />
Stroke<br />
Deceleration Ratio<br />
1<br />
10<br />
(mm)<br />
33.3<br />
ACON<br />
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: mm/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Stroke List<br />
Stroke<br />
(mm)<br />
10<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
3 Option List <strong>Actuator</strong> Specifications<br />
Name<br />
Flange bracket<br />
Shaft bracket<br />
337 RCP2-GRS<br />
Option Code<br />
FB<br />
SB<br />
See Page<br />
A-26<br />
A-36<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Backlash<br />
Lost Motion<br />
Guide<br />
Allowable Static Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Timing belt + trapezoidal screw (1.5 lead)<br />
±0.01mm<br />
0.15mm or less per side (constantly pressed out by a spring)<br />
0.1mm or less per side<br />
Cross roller guide<br />
Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 7.0 N∙m<br />
0.36kg<br />
040°C, 85% RH or less (non-condensing)
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Order P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* The opening side of the slider is the home position.<br />
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
10 0<br />
-0.05<br />
2−M4 depth 8<br />
30<br />
1.5<br />
24<br />
29<br />
+0.03<br />
2−ø3 0 Depth 2.5<br />
(same with opposite side)<br />
4−M4 depth 7<br />
(same with<br />
opposite side)<br />
Cable joint<br />
connector*1<br />
Secure at least 100<br />
21<br />
4−M4 depth 6<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
24<br />
7 9<br />
+0.03<br />
0<br />
4<br />
MAX 11<br />
MIN 1<br />
21<br />
24<br />
36<br />
69<br />
ø3 +0.03<br />
0 Depth 2.5<br />
4<br />
28<br />
3 +0.05<br />
0 Depth 2.5<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
5<br />
Cleanroom<br />
Type<br />
Note:<br />
3<br />
+0.05<br />
2−3 0 Depth 2.5<br />
(same with opposite side)<br />
68<br />
71<br />
Splash-Proof<br />
The holes in the slider shown above, other<br />
than tapped holes, are used to install the<br />
slider onto the actuator. They cannot be<br />
used as finger positioning holes.<br />
Use the key slots to position the fingers.<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.36<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
PMEC-C-20PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PSEP-C-20PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
No homing necessary with simple absolute type.<br />
PSEP-CW-20PI-NP-2-0 –<br />
P487<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
PCON-C-20PI-NP-2-0<br />
–<br />
Safety-Compliant<br />
Positioner Type<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-20PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-20PI-NP-2-0<br />
PCON-PO-20PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-20P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-20PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-GRS 338<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
RCP2 ROBO Cylinder<br />
RCP2-GRM<br />
ROBO Cylinder 2-Finger <strong>Gripper</strong> Medium Slider Type 74mm Width Pulse Motor<br />
<br />
Configuration:<br />
RCP2 GRM I 28P 1 14<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option<br />
I: Incremental 28P: 28 size 1 : 1/1<br />
* The Simple<br />
Pulse motor deceleration<br />
absolute encoder<br />
ratio<br />
is also considered<br />
type "I".<br />
* See page Pre-35 for explanation of each code that makes up the configuration name.<br />
14: 14mm<br />
(7mm per side)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
SB : Shaft bracket<br />
P : 1m<br />
FB : Flage bracket<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
Gripping Force Adjustment<br />
The gripping (pushing) force can be adjusted freely<br />
within the range of current limits of 20% to 70%.<br />
Table/Arm<br />
/Flat Type<br />
* The gripping forces in the following diagrams<br />
indicate the sums of gripping forces of both fingers.<br />
Mini<br />
140<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Gripping force (N)<br />
120<br />
100<br />
80<br />
60<br />
40<br />
Linear Servo<br />
Type<br />
20<br />
0 0 10 20 30 40 50 60 70<br />
Current Limit ( ratio)<br />
Cleanroom<br />
Type<br />
Technical<br />
References<br />
P. A-5<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this<br />
value.<br />
(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<br />
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the<br />
gripper fingers <strong>and</strong> the work piece, as well as on the shape of the work pieces. As a rough guide, a work piece's weight<br />
should not exceed 1/10 to 1/20 of the gripping force.<br />
(See page A-74 for details.)<br />
(3) The rated acceleration while moving is 0.3G.<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
Deceleration<br />
RCP2-GRM-I-28P-1-14- 1 - 2 - 3 1 80<br />
14<br />
Ratio<br />
Max. Gripping<br />
Force (N)<br />
Stroke<br />
(mm)<br />
* Please note that, when gripping (pushing),<br />
the speed is fixed at 5mm/s.<br />
Stroke <strong>and</strong> Maxi. Opening/Closing Speed<br />
Stroke<br />
Deceleration Ratio<br />
1<br />
14<br />
(mm)<br />
36.7<br />
ACON<br />
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: mm/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Stroke List<br />
Stroke<br />
(mm)<br />
14<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
3 Option List <strong>Actuator</strong> Specifications<br />
Name<br />
Flange bracket<br />
Shaft bracket<br />
339 RCP2-GRM<br />
Option Code<br />
FB<br />
SB<br />
See Page<br />
A-26<br />
A-36<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Backlash<br />
Lost Motion<br />
Guide<br />
Allowable Static Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Timing belt + trapezoidal screw (1.5 lead)<br />
±0.01mm<br />
0.15mm or less per side (constantly pressed out by a spring)<br />
0.1mm or less per side<br />
Cross roller guide<br />
Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 8.3 N∙m<br />
0.5kg<br />
040°C, 85% RH or less (non-condensing)
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Order P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* The opening side of the slider is the home position.<br />
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
12 0<br />
−0.05<br />
2−M5 depth 8<br />
36<br />
1.5<br />
25<br />
4−M4 depth 8<br />
(same with<br />
opposite side)<br />
35<br />
+0.03<br />
2−ø3 0 Depth 2.5<br />
(same with opposite side)<br />
Cable joint<br />
connector*1<br />
Secure at least 100<br />
24<br />
4−M4 depth 6<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
25<br />
7 11.5<br />
+0.03<br />
0<br />
5<br />
MAX 15<br />
MIN 1<br />
22<br />
24<br />
36<br />
74<br />
ø3 +0.03<br />
0 Depth 2.5<br />
4<br />
28<br />
3 +0.05<br />
0 Depth 2.5<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
5<br />
Cleanroom<br />
Type<br />
Note:<br />
The holes in the slider shown above, other<br />
than tapped holes, are used to install the<br />
slider onto the actuator. They cannot be<br />
used as finger positioning holes.<br />
Use the key slots to position the fingers.<br />
3<br />
+0.05<br />
2−3 0 Depth 2.5<br />
(same with opposite side)<br />
76<br />
79<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.5<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash–Proof<br />
Solenoid Valve Type<br />
PMEC–C–28PI–NP–2–1<br />
Easy–to–use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP–C–28PI–NP–2–0<br />
Operable with same signal as solenoid valve.<br />
Supports both single <strong>and</strong> double solenoid<br />
3 points<br />
–<br />
<strong>types</strong>.<br />
PSEP–CW–28PI–NP–2–0<br />
No homing necessary with simple absolute<br />
type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety–Compliant<br />
Positioner Type<br />
PCON–C–28PI–NP–2–0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON–CG–28PI–NP–2–0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON–PL–28PI–NP–2–0<br />
PCON–PO–28PI–NP–2–0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON–SE–28PI–N–0–0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON–28P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL–C–1–28PI–NP–2–0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-GRM 340<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
RCP2 ROBO Cylinder<br />
RCP2-GRST<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
ROBO Cylinder 2-Finger <strong>Gripper</strong> Long Stroke Slide Type 130190mm Width<br />
Pulse Motor<br />
Configuration:<br />
RCP2 GRST I 20P<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option<br />
I: Incremental<br />
* The Simple<br />
absolute encoder<br />
is also considered<br />
20P : 20 size<br />
Pulse motor<br />
1 : 1/1 deceleration<br />
ratio<br />
High-Speed Type<br />
2 : 1/2 deceleration<br />
ratio<br />
St<strong>and</strong>ard Type<br />
40: 40mm<br />
60: 60mm<br />
80: 80mm<br />
100: 100mm<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
P : 1m<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
See Options below<br />
Be sure to specify the side<br />
from which you want the<br />
cable to exit (A0 or A1).<br />
Gripping Force Adjustment<br />
The gripping (pushing) force can be adjusted freely<br />
within the range of current limits of 20% to 70%.<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Technical<br />
References<br />
P. A-5<br />
Gripping force (N)<br />
45<br />
40<br />
35<br />
30<br />
25<br />
20<br />
15<br />
10<br />
* The gripping forces in the following diagrams<br />
indicate the sums of gripping forces of both fingers.<br />
St<strong>and</strong>ard<br />
High-Speed Type<br />
5<br />
0 0 10 20 30 40 50 60 70 80<br />
Current Limit (% ratio)<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is<br />
twice this value.<br />
(2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no<br />
offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient<br />
between the gripper fingers <strong>and</strong> the work piece, as well as on the shape of the work pieces. As a rough guide, a<br />
work piece's weight should not exceed 1/10 to 1/20 of the gripping force.<br />
(See page A-74 for details.)<br />
(3) The rated acceleration while moving is 0.3G.<br />
* Please note that, when gripping (pushing),<br />
the speed is fixed at 5mm/s.<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-GRST-I-20P-1- 1 - 2 - 3 - 4<br />
RCP2-GRST-I-20P-2- 1 - 2 - 3 - 4<br />
Deceleration<br />
Ratio<br />
1<br />
2<br />
Max. Gripping<br />
Force (N)<br />
20<br />
Stroke <strong>and</strong> Maxi. Opening/Closing Speed<br />
Legend: 1 Stroke 2 Compatible controller 3 Cable length 4 Options (Unit: mm/s)<br />
40<br />
Stroke<br />
(mm)<br />
40100<br />
(20mm<br />
increments)<br />
Stroke<br />
Deceleration Ratio<br />
1<br />
2<br />
40100<br />
(mm)<br />
75<br />
34<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
1 Stroke List 3 Cable List<br />
Stroke<br />
(mm)<br />
40<br />
60<br />
80<br />
100<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
Type<br />
Cable Symbol<br />
P (1m)<br />
St<strong>and</strong>ard Type<br />
S (3m)<br />
(Robot Cables)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
Special Lengths X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
* The st<strong>and</strong>ard cable is the motor-encoder integrated robot cable.<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
4 Option List <strong>Actuator</strong> Specifications<br />
Name<br />
Option Code See Page St<strong>and</strong>ard Price<br />
Reversed-home<br />
Cable exiting from bottom<br />
Cable exiting from the side<br />
NM<br />
A0<br />
A1<br />
A-33<br />
A-25<br />
A-25<br />
–<br />
–<br />
–<br />
*Be sure to specify the side from which you want the cable to exit (A0 or A1).<br />
341 RCP2-GRST<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Backlash<br />
Lost Motion<br />
Guide<br />
Allowable Static Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Timing belt + worm/rack gear<br />
±0.01mm<br />
0.2mm or less per side<br />
–<br />
Linear guide<br />
Ma: 2.93 N∙m Mb: 2.93 N∙m Mc: 5.0 N∙m<br />
0.51kg(40-stroke) 0.66kg (100-stroke)<br />
040°C, 85% RH or less (non-condensing)
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* The opening side of the slider is the home position.<br />
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
3<br />
12.5±0.05<br />
4-M3 depth 5<br />
19<br />
2.5<br />
12±0.05<br />
Rod<br />
Type<br />
Mini<br />
19<br />
St<strong>and</strong>ard<br />
(0.5)<br />
24.5<br />
24<br />
+0.03<br />
ø3depth 0 3<br />
M<br />
2-C0.5<br />
L<br />
st 6<br />
st<br />
N<br />
24<br />
(0.5)<br />
10.5<br />
33<br />
25 0<br />
-0.05<br />
2-C0.5<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Unlocking screw<br />
2-M4 depth 6<br />
(same with opposite side)<br />
+0.03<br />
ø3 0 depth 3<br />
(same with opposite side)<br />
+0.03<br />
ø3 depth 0 3<br />
4-M4 depth 5<br />
26<br />
40<br />
60<br />
+0.05<br />
ø3 depth 3<br />
0<br />
4<br />
(same with<br />
opposite side)<br />
4<br />
+0.05<br />
ø3 0 depth 3<br />
11<br />
12.5<br />
28 25.5<br />
Cable exiting from side<br />
(Model: A1)<br />
Secure at least 100<br />
Cable exit from bottom<br />
(Model : A0)<br />
32<br />
21.5 28 4<br />
(210)<br />
53.5<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
M<br />
60<br />
N<br />
Cable joint connector*1<br />
Controllers<br />
Dimensions <strong>and</strong> Weight by Stroke<br />
PMEC<br />
/AMEC<br />
Stroke<br />
L<br />
40<br />
130<br />
60<br />
150<br />
80<br />
170<br />
100<br />
190<br />
PSEP<br />
/ASEP<br />
M<br />
N<br />
Weight (kg)<br />
71.5<br />
57.5<br />
0.51<br />
81.5<br />
67.5<br />
0.56<br />
91.5<br />
77.5<br />
0.61<br />
101.5<br />
87.5<br />
0.66<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
2 Compatible controller<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PMEC-C-20PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-20PI-NP-2-0 Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid<br />
<strong>types</strong>.<br />
PSEP-CW-20PI-NP-2-0 No homing necessary with simple absolute type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-20PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-20PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-20PI-NP-2-0<br />
PCON-PO-20PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-20P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-20PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-GRST 342<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
RCP2 ROBO Cylinder<br />
RCP2-GR3LS<br />
ROBO Cylinder 3-Finger <strong>Gripper</strong> Lever Type 62mm Width Pulse Motor<br />
Configuration:<br />
RCP2 GR3LS I 28P 30 19<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option<br />
I: Incremental<br />
* The Simple<br />
28P : 28 size<br />
Pulse motor<br />
30 : 1/30<br />
deceleration<br />
19: 19 degrees<br />
absolute encoder<br />
is also considered<br />
ratio<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
Gripping Force vs. Current Limit<br />
L<br />
Lever Type (GR3LS/GR3LM)<br />
F<br />
N : None<br />
FB : Flange bracket<br />
P : 1m<br />
SB : Shaft bracket<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
* Please note that,<br />
when gripping<br />
(pushing), the<br />
speed is fixed at<br />
5 degrees/s.<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
* The values in the graph below are gripping forces at 10mm gripping point.<br />
The actual gripping force decreases inversely proportional to the distance<br />
from the opening/closing point.<br />
You can calculate the actual gripping force by the following equation.<br />
Actual gripping force (type S)=P×24/(L+14)<br />
Actual gripping force (type M)=P×28.5/(L+18.5)<br />
P=Gripping force on graph<br />
L=Distance from finger mounting surface to the gripping point.<br />
35<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The maximum opening/closing speed indicates the operating speed on one side. The<br />
relative operating speed is twice this value.<br />
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping<br />
point distance of 10mm <strong>and</strong> no overhang distance. For the actual transportable work piece<br />
weight, see explanation on the right, or page A-77.<br />
(3) The rated acceleration while moving is 0.3G.<br />
Gripping force (N)<br />
30<br />
25<br />
20<br />
15<br />
10<br />
5<br />
0 0 10 20 30 40 50 60 70<br />
Current Limit (% ratio)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
Deceleration<br />
RCP2-GR3LS-I-28P-30-19- 1 - 2 - 3 30 18<br />
19<br />
Ratio<br />
Max. Gripping<br />
Force (N)<br />
Stroke<br />
(deg)<br />
Stroke <strong>and</strong> Maxi. Opening/Closing Speed<br />
Stroke<br />
Deceleration Ratio<br />
30<br />
19<br />
(deg)<br />
200<br />
ACON<br />
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: degrees/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Stroke List<br />
Stroke<br />
(deg)<br />
10<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
3 Option List <strong>Actuator</strong> Specifications<br />
Name<br />
Flange bracket<br />
Shaft bracket<br />
Option Code<br />
FB<br />
SB<br />
See Page<br />
A-26<br />
A-36<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Backlash<br />
Lost Motion<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Worm gear + worm wheel gear<br />
±0.01 degrees<br />
1 degree or less per side (constantly pressed out by a spring)<br />
0.15 degrees or less per side<br />
0.6kg<br />
040°C, 85% RH or less (non-condensing)<br />
343 RCP2-GR3LS
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* When homing, the actuator swings 1 degree past the home position before<br />
returning. Therefore, please watch for any interference with the surrounding<br />
objects.<br />
*1 The motor-encoder cable is connected here. See page A-39 for details on<br />
cables.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
ø3 +0.05<br />
0<br />
2-M3<br />
10 +0.05 0<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
4-ø4.5<br />
62<br />
48<br />
M8 (effective depth 4)<br />
ø57<br />
Home<br />
8 -0.05<br />
0<br />
7.5<br />
3.5 8<br />
28<br />
10<br />
Mounting surface 3-M4 (effective depth 6)<br />
Flange plug (set screw M4 x 5)<br />
31.5<br />
16<br />
50.5<br />
(19)<br />
1.5<br />
84<br />
2-ø3 +0.03<br />
0 depth 3<br />
(same for back side)<br />
4-M5 depth 8<br />
(same for back side)<br />
ø57<br />
Mounting<br />
surface<br />
Cable joint<br />
connector *1<br />
Secure at least 100<br />
2 0.5<br />
Details of A<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
14°<br />
6<br />
24<br />
36<br />
120°<br />
120°<br />
Linear Servo<br />
Type<br />
62<br />
48<br />
ø18<br />
9 6<br />
ø59 0<br />
-0.05<br />
5°<br />
12<br />
ø45<br />
Cleanroom<br />
Type<br />
ø76<br />
Mounting surface<br />
(same for opposite side)<br />
17.5<br />
4<br />
2-3 0 +0.05 depth 3<br />
(same for back side)<br />
112<br />
A<br />
Splash-Proof<br />
(129.5)<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.6<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PMEC-C-28PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-28PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
PSEP-CW-28PI-NP-2-0<br />
No homing necessary with simple absolute type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-28PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-28PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-28PI-NP-2-0<br />
PCON-PO-28PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-28PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-28P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-28PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-GR3LS 344<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
RCP2 ROBO Cylinder<br />
RCP2-GR3LM<br />
ROBO Cylinder 3-Finger <strong>Gripper</strong> Lever Type 80mm Width Pulse Motor<br />
Configuration:<br />
RCP2 GR3LM I 42P 30 19<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option<br />
42P : 42 size<br />
19: 19 degrees<br />
Pulse motor<br />
I: Incremental<br />
* The Simple<br />
absolute encoder<br />
is also considered<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
30 : 1/30<br />
deceleration<br />
ratio<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
Gripping Force vs. Current Limit<br />
L<br />
Lever Type (GR3LS/GR3LM)<br />
F<br />
N : None<br />
FB : Flange bracket<br />
P : 1m<br />
SB : Shaft bracket<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
* Please note that,<br />
when gripping<br />
(pushing), the<br />
speed is fixed<br />
at 5 degrees/s.<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
70<br />
* The values in the graph below are gripping forces at 10mm gripping point.<br />
The actual gripping force decreases inversely proportional to the distance<br />
from the opening/closing point.<br />
You can calculate the actual gripping force by the following equation.<br />
Actual gripping force (type S)=P×24/(L+14)<br />
Actual gripping force (type M)=P×28.5/(L+18.5)<br />
P=Gripping force on graph<br />
L=Distance from finger mounting surface to the gripping point.<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The maximum opening/closing speed indicates the operating speed on one side. The<br />
relative operating speed is twice this value.<br />
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping<br />
point distance of 10mm <strong>and</strong> no overhang distance. For the actual transportable work piece<br />
weight, see explanation on the right, or page A-77.<br />
(3) The rated acceleration while moving is 0.3G.<br />
Gripping force (N)<br />
60<br />
50<br />
40<br />
30<br />
20<br />
10<br />
0 0 10 20 30 40 50 60 70<br />
Current Limit (% ratio)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
Deceleration<br />
RCP2-GR3LM-I-42P-30-19- 1 - 2 - 3 30 51<br />
19<br />
Ratio<br />
Max. Gripping<br />
Force (N)<br />
Stroke<br />
(deg)<br />
Stroke <strong>and</strong> Maxi. Opening/Closing Speed<br />
Stroke<br />
Deceleration Ratio<br />
30<br />
19<br />
(deg)<br />
200<br />
ACON<br />
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: degrees/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Stroke List<br />
Stroke<br />
(deg)<br />
10<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
3 Option List<br />
Name<br />
Option Code See Page St<strong>and</strong>ard Price<br />
<strong>Actuator</strong> Specifications<br />
Item<br />
Description<br />
Flange bracket<br />
Shaft bracket<br />
FB<br />
SB<br />
A-26<br />
A-36<br />
–<br />
–<br />
Drive System<br />
Positioning Repeatability<br />
Backlash<br />
Lost Motion<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Worm gear + worm wheel gear<br />
±0.01 degrees<br />
1 degree or less per side (constantly pressed out by a spring)<br />
0.15 degrees or less per side<br />
1.1kg<br />
040°C, 85% RH or less (non-condensing)<br />
345 RCP2-GR3LM
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* When homing, the actuator swings 1 degree past the home position before<br />
returning. Therefore, please watch for any interference with the surrounding<br />
objects.<br />
*1 The motor-encoder cable is connected here. See page A-39 for details on<br />
cables.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
77 -0.05<br />
0<br />
ø75<br />
ø3 +0.05<br />
0<br />
2-M4<br />
10 -0.05<br />
0<br />
ø75<br />
10 +0.05<br />
0<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
9<br />
4 10<br />
Cable joint<br />
connector*1<br />
2 0.5<br />
Details of A<br />
Mini<br />
St<strong>and</strong>ard<br />
4-ø5.5<br />
80<br />
62<br />
M8 (effective depth 4)<br />
Home<br />
Mounting<br />
surface<br />
40.5<br />
20<br />
36<br />
64<br />
(23.5)<br />
1.5<br />
12<br />
78<br />
Secure at least 100<br />
2-ø3 +0.03<br />
0 depth 3<br />
3-M5 (effective depth 7)<br />
(same for back side)<br />
Mounting<br />
Flange plug (set screw M5 x 6)<br />
4-M6 depth 12<br />
surface<br />
(same for back side)<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
80<br />
62<br />
7<br />
14.5<br />
14°<br />
5°<br />
18<br />
7<br />
34<br />
48<br />
120°<br />
ø62<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
120°<br />
ø29<br />
ø98<br />
Mounting surface<br />
(same for opposite side)<br />
22<br />
4<br />
2-3 0 +0.05 depth 3<br />
(same for back side)<br />
114<br />
(136)<br />
A<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 1.1<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PMEC-C-42PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-42PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
PSEP-CW-42PI-NP-2-0<br />
No homing necessary with simple absolute type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-42PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-42PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-42PI-NP-2-0<br />
PCON-PO-42PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-42PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-42P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-42PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-GR3LM 346<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
RCP2 ROBO Cylinder<br />
RCP2-GR3SS<br />
ROBO Cylinder 3-Finger <strong>Gripper</strong> Slider Type 62mm Width Pulse Motor<br />
Configuration:<br />
RCP2 GR3SS I 28P 30 10<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option<br />
I: Incremental 28P : 28 size 30 : 1/30<br />
10: 10mm<br />
* The Simple<br />
Pulse motor deceleration (5mm per side)<br />
absolute encoder<br />
is also considered<br />
ratio<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
FB : Flange bracket<br />
P : 1m<br />
SB : Shaft bracket<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
Gripping Force vs. Current Limit<br />
Slider Type (GR3SS/GR3SM)<br />
F<br />
Mini<br />
L<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
35<br />
* Please keep the distance L from the finger mounting surface to the<br />
gripping point at less than the following dimensions.<br />
GR3SS50mm or less<br />
GR3SM80mm or less<br />
* Please note that, when<br />
gripping (pushing), the<br />
speed is fixed at 5mm/s.<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The maximum opening/closing speed indicates the operating speed on one side. The<br />
relative operating speed is twice this value.<br />
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping<br />
point distance of 10mm <strong>and</strong> no overhang distance. For the actual transportable work piece<br />
weight, see explanation on the right or page A-74.<br />
(3) The rated acceleration while moving is 0.3G.<br />
Gripping force (N)<br />
30<br />
25<br />
20<br />
15<br />
10<br />
5<br />
0 0 10 20 30 40 50 60 70<br />
Current Limit (% ratio)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
Deceleration<br />
RCP2-GR3SS-I-28P-30-10- 1 - 2 - 3 30 22<br />
10<br />
Ratio<br />
Max. Gripping<br />
Force (N)<br />
Stroke<br />
(mm)<br />
Stroke <strong>and</strong> Maxi. Opening/Closing Speed<br />
Stroke<br />
Deceleration Ratio<br />
30<br />
10<br />
(mm)<br />
40<br />
ACON<br />
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: mm/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Stroke List<br />
Stroke<br />
(mm)<br />
10<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
3 Option List<br />
Name<br />
Option Code See Page St<strong>and</strong>ard Price<br />
<strong>Actuator</strong> Specifications<br />
Item<br />
Description<br />
Flange bracket<br />
Shaft bracket<br />
FB<br />
SB<br />
A-26<br />
A-36<br />
–<br />
–<br />
Drive System<br />
Positioning Repeatability<br />
Backlash<br />
Lost Motion<br />
Guide<br />
Allowable Static Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Worm gear + worm wheel gear<br />
±0.01mm<br />
0.3mm or less per side (constantly pressed out by a spring)<br />
0.1mm or less per side<br />
Cross roller guide<br />
Ma: 3.8 N∙m Mb: 3.8 N∙m Mc: 3.0 N∙m<br />
0.6kg<br />
040°C, 85% RH or less (non-condensing)<br />
347 RCP2-GR3SS
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* When homing, the actuator swings 0.5mm past the home position before<br />
returning. Therefore, please watch for any interference with the surrounding<br />
objects.<br />
*1 The motor-encoder cable is connected here. See page A-39 for details on<br />
cables.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
ø57<br />
6 -0.05<br />
0<br />
ø57<br />
10 +0.05<br />
0<br />
Rod<br />
Type<br />
Mini<br />
Cable joint<br />
connector *1<br />
2 0.5<br />
St<strong>and</strong>ard<br />
4-ø4.5<br />
62<br />
48<br />
3-M3 depth 5<br />
ø9 counterbore, depth 1.5<br />
M8 (effective depth 6)<br />
1.5<br />
B<br />
3-ø2.5h7( -0.010 0 )<br />
2<br />
4<br />
40<br />
45<br />
Mounting<br />
surface 1.5<br />
10<br />
70<br />
2-ø3 +0.03<br />
0 depth 3<br />
(same for back side)<br />
4-M5 depth 8<br />
(same for<br />
back side)<br />
Mounting<br />
surface<br />
Secure at least 100<br />
Details of A<br />
3-M4 (effective depth 6)<br />
Flange plug (set screw M4 x 5)<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
62<br />
48<br />
3-M3 depth 5<br />
ø9 counterbore, depth 1.5<br />
M8 (effective depth 6)<br />
5<br />
1.5<br />
5<br />
15<br />
18<br />
24<br />
36<br />
120°<br />
120°<br />
St<strong>and</strong>ard<br />
62<br />
48<br />
ø76<br />
3.5<br />
1.5<br />
49<br />
ST5<br />
ø59 -0.05<br />
0<br />
Mounting surface<br />
(same for opposite side)<br />
4<br />
2-3 +0.05<br />
0 depth 3<br />
(same for back side)<br />
104<br />
110<br />
A<br />
ø45<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
15<br />
18<br />
Home<br />
Details of section B<br />
3.5<br />
1.5<br />
49<br />
ST5<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.6<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PMEC-C-28PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-28PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
PSEP-CW-28PI-NP-2-0<br />
No homing necessary with simple absolute type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-28PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-28PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-28PI-NP-2-0<br />
PCON-PO-28PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-28PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-28P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-28PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-GR3SS 348<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
RCP2 ROBO Cylinder<br />
RCP2-GR3SM<br />
ROBO Cylinder 3-Finger <strong>Gripper</strong> Slider Type 80mm Width Pulse Motor<br />
Configuration:<br />
RCP2 GR3SM I 42P 30 14<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option<br />
I: Incremental<br />
* The Simple<br />
absolute encoder<br />
is also considered<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
42P : 42 size<br />
Pulse motor<br />
30 : 1/30<br />
deceleration<br />
ratio<br />
14: 14mm<br />
(7mm per side)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
FB : Flange bracket<br />
P : 1m<br />
SB : Shaft bracket<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
Gripping Force vs. Current Limit<br />
Slider Type (GR3SS/GR3SM)<br />
F<br />
Mini<br />
L<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
130<br />
* Please keep the distance L from the finger mounting surface to the<br />
gripping point at less than the following dimensions.<br />
GR3SS50mm or less<br />
GR3SM80mm or less<br />
* Please note that, when<br />
gripping (pushing), the<br />
speed is fixed at 5mm/s.<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The maximum opening/closing speed indicates the operating speed on one side. The<br />
relative operating speed is twice this value.<br />
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping<br />
point distance of 10mm <strong>and</strong> no overhang distance. For the actual transportable work piece<br />
weight, see explanation on the right or page A-74.<br />
(3) The rated acceleration while moving is 0.3G.<br />
Gripping force (N)<br />
120<br />
100<br />
80<br />
60<br />
40<br />
20<br />
0 0 10 20 30 40 50 60 70<br />
Current Limit (% ratio)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
Deceleration<br />
RCP2-GR3SM-I-42P-30-14- 1 - 2 - 3 30 102<br />
14<br />
Ratio<br />
Max. Gripping<br />
Force (N)<br />
Stroke<br />
(mm)<br />
Stroke <strong>and</strong> Maxi. Opening/Closing Speed<br />
Stroke<br />
Deceleration Ratio<br />
30<br />
14<br />
(mm)<br />
50<br />
ACON<br />
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: mm/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Stroke List<br />
Stroke<br />
(mm)<br />
14<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
3 Option List<br />
Name<br />
Option Code See Page St<strong>and</strong>ard Price<br />
<strong>Actuator</strong> Specifications<br />
Item<br />
Description<br />
Flange bracket<br />
Shaft bracket<br />
FB<br />
SB<br />
A-26<br />
A-36<br />
–<br />
–<br />
Drive System<br />
Positioning Repeatability<br />
Backlash<br />
Lost Motion<br />
Guide<br />
Allowable Static Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Worm gear + worm wheel gear<br />
±0.01mm<br />
0.3mm or less per side (constantly pressed out by a spring)<br />
0.1mm or less per side<br />
Cross roller guide<br />
Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 5.7 N∙m<br />
1.2kg<br />
040°C, 85% RH or less (non-condensing)<br />
349 RCP2-GR3SM
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* When homing, the actuator swings 0.5mm past the home<br />
position before returning. Therefore, please watch for any<br />
interference with the surrounding objects.<br />
*1 The motor-encoder cable is connected here. See page A-39 for<br />
details on cables.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
ø75<br />
8 -0.05<br />
0<br />
ø75<br />
10 +0.05<br />
0<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Cable joint<br />
connector *1<br />
2 0.5<br />
Details of A<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
4-ø5.5<br />
80<br />
62<br />
3-M4 depth 6<br />
ø9 counterbore, depth 1.5<br />
M8 (effective depth 6)<br />
8<br />
22 1.5<br />
25<br />
Home<br />
3-ø2.5h7( -0.010 0 )<br />
2<br />
47<br />
53<br />
1.5<br />
Mounting surface<br />
12<br />
2-ø3 +0.03<br />
0 depth 3<br />
(same for back side)<br />
4-M6 depth 12<br />
(same for back side)<br />
34<br />
48<br />
78<br />
Mounting<br />
surface<br />
Secure at least 100<br />
120°<br />
3-M5 (effective depth 7)<br />
Flange plug (set screw M5 x 6)<br />
120°<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
80<br />
62<br />
4<br />
7<br />
1.5<br />
411<br />
ST7<br />
77 -0.05<br />
0<br />
ø62<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
ø98<br />
Mounting surface<br />
(same for opposite side)<br />
2-3 +0.05 0 depth 3<br />
(same for back side)<br />
118<br />
A<br />
Controllers<br />
125<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 1.2<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PMEC-C-42PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-42PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
PSEP-CW-42PI-NP-2-0<br />
No homing necessary with simple absolute type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-42PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-42PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-42PI-NP-2-0<br />
PCON-PO-42PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-42PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-42P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-42PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-GR3SM 350<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
RCS2 ROBO Cylinder<br />
RCS2-GR8<br />
ROBO Cylinder 2-Finger <strong>Gripper</strong> Long Stroke Slider Type 104 284mm Width<br />
200V Servo Motor<br />
<br />
Configuration:<br />
RCS2 GR8 I 60 5<br />
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length<br />
I : Incremental 60: 60W Servo<br />
motor<br />
5 : 1/5<br />
20 : 20mm<br />
40 : 40mm<br />
T1 : XSEL-J/K<br />
T2 : SCON<br />
N : None<br />
P : 1m<br />
(60) : 60mm<br />
S : 3m<br />
(80) : 80mm<br />
SSEL<br />
M : 5m<br />
100 : 100mm<br />
XSEL-P/Q<br />
X : Custom Length<br />
* See page Pre-35 for explanation of each code that makes up the configuration name.<br />
(120) : 120mm<br />
(200) : 200mm<br />
R : Robot Cable<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
* Please note that, when gripping (pressing),<br />
the speed is fixed at 10mm/s.<br />
Cleanroom<br />
Type<br />
Technical<br />
References<br />
P. A-5<br />
Splash-Proof<br />
Controllers<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
(1) Stroke values enclosed in "( )" are (60, 80, 120, 200) are semi-st<strong>and</strong>ard models.<br />
(2) The maximum gripping force is the sum of both fingers.<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
Motor Output<br />
(W)<br />
Deceleration<br />
Ratio<br />
Max. Gripping<br />
Force (N)<br />
Stroke<br />
(mm)<br />
PCON<br />
ACON<br />
RCS2-GR8-I-60-5- 1 - 2 - 3 60 1/5 45.1 20, 40, (60), (80), 100, (120), (200)<br />
Legend: 1 Stroke 2 Compatible controller 3 Cable length<br />
SCON<br />
PSEL<br />
1 Stroke List<br />
Stroke (mm)<br />
St<strong>and</strong>ard Price<br />
3 Cable List<br />
Type<br />
2 Cable Symbol<br />
St<strong>and</strong>ard Price<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
20<br />
40<br />
(60)<br />
(80)<br />
100<br />
(120)<br />
(200)<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
P (1m)<br />
St<strong>and</strong>ard Type S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
Special Lengths X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
Robot Cable R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
<strong>Actuator</strong> Specifications<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Lost Motion<br />
Base<br />
Allowable Static Load Moment<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Rack <strong>and</strong> pinion<br />
±0.04mm<br />
0.7mm or less<br />
Material: Aluminum (white alumite treated)<br />
Ma: 5.1 N∙m Mb: 5.1 N∙m Mc: 10.4 N∙m<br />
0 40°C, 85% RH or less (non-condensing)<br />
351 RCS2-GR8
Dimensions<br />
RCS2 ROBO Cylinder<br />
Slider<br />
Type<br />
For Special Orders P. A-9<br />
Mini<br />
* The opening side of the slider is the home position.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
(Note 1)<br />
6-M4 effective<br />
depth (per side)<br />
75<br />
70<br />
15<br />
15<br />
6.0 3.0<br />
2<br />
Details of the T-slot<br />
for mounting actuator<br />
10<br />
28.0<br />
13.5<br />
10.3<br />
6.3<br />
10.4<br />
2<br />
27<br />
A<br />
27<br />
45<br />
14.5 16<br />
B B<br />
2-M4<br />
6 6<br />
8<br />
5 9<br />
9<br />
T-slot for mounting the actuator<br />
225<br />
61<br />
(300)<br />
Secure at least 100<br />
52<br />
56<br />
Cable joint<br />
connector*1<br />
62<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
E<br />
D<br />
(C)<br />
27<br />
15 28<br />
13.5<br />
54<br />
100<br />
1<br />
Splash-Proof<br />
*1 The motor cable <strong>and</strong> encoder cable are connected here.<br />
See page A-39 for details on cables.<br />
(Note 1) The number of tapped holes on the finger mounting plate is for one side.<br />
In addition, by default, each finger is secured using 2 tapped holes.<br />
Dimensions <strong>and</strong> Weight by Stroke<br />
Stroke 20 40 (60) (80) 100 (120) (200)<br />
A<br />
B<br />
C<br />
D<br />
E<br />
Weight (kg)<br />
22<br />
10<br />
106.4<br />
104<br />
100<br />
42<br />
20<br />
126.4<br />
124<br />
120<br />
62<br />
30<br />
146.4<br />
144<br />
140<br />
82<br />
40<br />
166.4<br />
164<br />
160<br />
102<br />
50<br />
186.4<br />
184<br />
180<br />
122<br />
60<br />
206.4<br />
204<br />
200<br />
202<br />
100<br />
286.4<br />
284<br />
280<br />
1.8 1.9 1.9 2.0 2.0 2.1 2.3<br />
*1 The strokes enclosed in "( )" are semi-st<strong>and</strong>ard configurations, <strong>and</strong> will require longer delivery time.<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
2 Compatible controller<br />
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
SCON<br />
Name External View Model<br />
Description Max. Positioning Points Input Voltage Power Supply Capacity<br />
St<strong>and</strong>ard Price<br />
See Page<br />
PSEL<br />
Positioner Mode<br />
Positioning is possible<br />
for up to 512 points<br />
512 points<br />
ASEL<br />
Solenoid Valve Mode<br />
Operable with the same<br />
controls as the solenoid<br />
valve<br />
7 points<br />
SSEL<br />
SCON-C-60-NP-2-1<br />
–<br />
P547<br />
XSEL<br />
Serial Communication<br />
Type<br />
Dedicated to serial<br />
communication<br />
64 points<br />
Single-phase AC100V<br />
360VA max.<br />
Single-phase AC200V<br />
Pulse Train Input<br />
Control Type<br />
Dedicated to pulse train<br />
input<br />
(−)<br />
Three-phase AC200V<br />
(XSEL-P/Q only)<br />
* When operating a<br />
150W single-axis<br />
model<br />
Pulse Motor<br />
Program Control 1 - 2<br />
Axes Type<br />
Program Control 1-6<br />
Axis Type<br />
SSEL-C-1-60-NP-2-1<br />
XSEL-2-1-60-N1-EEE-2-3<br />
Programmed operation<br />
is possible<br />
Operation is possible on<br />
up to 2 axes<br />
Programmed operation<br />
is possible<br />
Operation is possible on<br />
up to 6 axes<br />
1500 points<br />
20000 points<br />
–<br />
–<br />
P577<br />
P587<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
* For SSEL <strong>and</strong> XSEL, only applicable to the single-axis model.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).<br />
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),<br />
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).<br />
Linear<br />
Servo Motor<br />
RCS2-GR8 352
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
RCP2 ROBO Cylinder<br />
RCP2-RTBS/RTBSL<br />
ROBO Cylinder <strong>Rotary</strong> Small Vertical Type 45mm Width Pulse Motor<br />
Configuration:<br />
RCP2 I 20P<br />
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option<br />
RTBS : 330-degree<br />
rotation<br />
RTBSL: Multiple<br />
rotation<br />
I: Incremental<br />
* The Simple<br />
absolute encoder<br />
is also considered<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
20P : 20 size<br />
Pulse motor<br />
30 : 1/30<br />
deceleration<br />
ratio<br />
45 : 1/45<br />
deceleration<br />
ratio<br />
330: 330degrees<br />
(RTBS only)<br />
360: 360degrees<br />
(RTBSL<br />
only)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
NM :Reversed-rotation<br />
P : 1m<br />
SA : Shaft adapter<br />
S : 3m<br />
TA : Table adapter<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Speed vs. Load Capacity<br />
Due to the characteristics of the Pulse Motor, the RCP2 series'<br />
load capacity decreases at high speeds. In the table below, check<br />
if your desired speed <strong>and</strong> load capacity are supported.<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Output torque (N∙m)<br />
0.50<br />
0.45<br />
0.40<br />
0.36<br />
0.35<br />
0.30<br />
0.25<br />
0.24<br />
0.20<br />
0.15<br />
0.10<br />
0.05<br />
Deceleration ratio 1/45<br />
Deceleration ratio 1/30<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The output torque decreases as the rotational speed increases.<br />
Check the output torque graph on the right to see whether the speed required for your desired motion is<br />
supported.<br />
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.<br />
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired<br />
motion is within the allowable range.<br />
(3) The rated acceleration while moving is 0.2G.<br />
Allowable moment of<br />
inertia (×10 -3 kg•m 2 )<br />
0.00 0 50 100 150 200 250 300 350 400 450<br />
Rotational speed (deg/sec)<br />
5<br />
4.5<br />
4<br />
3.5<br />
Deceleration ratio 1/45<br />
3<br />
2.5<br />
2.3<br />
Deceleration ratio 1/30<br />
2<br />
1.5<br />
1<br />
0.5<br />
0<br />
0 50 100 150 200 250 300 350 400 450<br />
Rotational speed (deg/sec)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-RTBS-I-20P-30-330- 1 - 2 - 3<br />
RCP2-RTBS-I-20P-45-330- 1 - 2 - 3<br />
Deceleration<br />
Ratio<br />
1/30<br />
1/45<br />
Max. Torque<br />
(N∙m)<br />
0.24<br />
0.36<br />
Allowable Moment of<br />
Inertia (kg∙m 2 )<br />
0.0023<br />
0.0035<br />
Oscillation<br />
Angle (deg)<br />
330<br />
Deceleration Ratio <strong>and</strong> Max. Speed<br />
Stroke<br />
Deceleration Ratio<br />
1/30<br />
1/45<br />
330/360<br />
(deg)<br />
400<br />
266<br />
ACON<br />
SCON<br />
RCP2-RTBSL-I-20P-30-360- 1 - 2 - 3<br />
RCP2-RTBSL-I-20P-45-360- 1 - 2 - 3<br />
1/30<br />
1/45<br />
0.24<br />
0.36<br />
0.0023<br />
0.0035<br />
360<br />
(Unit: degrees/s)<br />
Legend: 1 Compatible controller 2 Cable length 3 Options<br />
PSEL<br />
Stroke List<br />
2 Cable List<br />
ASEL<br />
SSEL<br />
XSEL<br />
Type<br />
RTBS<br />
RTBSL<br />
Oscillation Angle<br />
(deg)<br />
330<br />
360<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
Type<br />
Cable Symbol<br />
P (1m)<br />
St<strong>and</strong>ard Type<br />
S (3m)<br />
(Robot Cables)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
Special Lengths X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
* The st<strong>and</strong>ard cable is the motor-encoder integrated robot cable.<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
3 Option List <strong>Actuator</strong> Specifications<br />
Name<br />
Option Code See Page<br />
Reversed-rotation (*)<br />
NM<br />
A-33<br />
Shaft adapter<br />
SA<br />
A-35<br />
Table adapter<br />
TA<br />
A-37<br />
* Reversed-rotation option can be selected on the multi-rotational model only.<br />
353 RCP2-RTBS/RTBSL<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Homing Accuracy<br />
Lost Motion<br />
Allowable Thrust Load<br />
Allowable Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Hypoid gear<br />
±0.05 degrees<br />
±0.05 degrees<br />
±0.1 degrees<br />
30N<br />
3.6N∙m<br />
0.52kg<br />
0 40°C, 85% RH or less (non-condensing)
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
5.5<br />
Rod<br />
Type<br />
ø13<br />
45<br />
36<br />
+0.05<br />
4 0 depth 4<br />
Note:<br />
* In the 2D drawing on the left,<br />
the shaded area indicates the<br />
rotating part.<br />
Mini<br />
St<strong>and</strong>ard<br />
4-M3 depth 3.5<br />
4-M 3 depth 7<br />
22<br />
7.5<br />
26<br />
21.8<br />
72<br />
0<br />
ø36 h7( -0.025 )<br />
-0.007<br />
ø20 g6( -0.020 )<br />
+0.010<br />
ø3 H7( 0 depth)4<br />
+0.15<br />
ø7 H7( 0 ) depth 7.5<br />
+0.02<br />
ø3depth 0 2.5<br />
4-M 3 depth 5.5<br />
*1 The motor-encoder cable is connected here.<br />
See page A-39 for details on cables.<br />
27<br />
(11)<br />
Cable joint<br />
connector*1<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
70<br />
68.5<br />
(6)<br />
67<br />
11.6<br />
17.5<br />
45 48<br />
+0.04<br />
3 0 depth 2.5<br />
4<br />
4-M 3 depth 5.5<br />
61<br />
4<br />
+0.04<br />
3 0 depth 2.5<br />
11 39<br />
48 (20) Secure at least 100<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
6 33<br />
12<br />
+0.02<br />
ø3 0 depth 2.5<br />
12.5 12.5<br />
(25) (35.5)<br />
Note:<br />
The position in the 2D drawing on the left is the<br />
home position.<br />
When homing, the actuator rotates to the left<br />
past the home position by 1 degree. Therefore<br />
please watch for any interference with the<br />
surrounding objects.<br />
The range of motion is 330 degrees clockwise,<br />
as viewed from above.<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.52<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PMEC-C-20PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-20PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
PSEP-CW-20PI-NP-2-0<br />
No homing necessary with simple absolute type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-20PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-20PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-20PI-NP-2-0<br />
PCON-PO-20PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-20P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-20PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-RTBS/RTBSL 354<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
RCP2 ROBO Cylinder<br />
RCP2-RTCS/RTCSL<br />
28P : 28 size 30 : 1/30<br />
Pulse motor deceleration<br />
ratio<br />
45 : 1/45<br />
deceleration<br />
ratio<br />
ROBO Cylinder <strong>Rotary</strong> Small Flat Type 72mm Width Pulse Motor<br />
Configuration:<br />
RCP2 I 20P<br />
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option<br />
RTCS : 330 degree<br />
rotation<br />
RTCSL : Multirotational<br />
I: Incremental<br />
* The Simple<br />
absolute encoder is<br />
also considered<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
330: 330degrees<br />
(RTCS only)<br />
360: 360degrees<br />
(RTCSL only)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
NM :Reversed-rotation<br />
P : 1m<br />
SA : Shaft adapter<br />
S : 3m<br />
TA : Table adapter<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
Speed vs. Load Capacity<br />
Due to the characteristics of the Pulse motor, the RCP2 series'<br />
load capacity decreases at high speeds. In the table below, check<br />
if your desired speed <strong>and</strong> load capacity are supported.<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Output torque (N∙m)<br />
0.50<br />
0.45<br />
0.40<br />
0.36<br />
0.35<br />
0.30<br />
0.25<br />
0.24<br />
0.20<br />
0.15<br />
0.10<br />
0.05<br />
Deceleration ratio 1/45<br />
Deceleration ratio 1/30<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The output torque decreases as the rotational speed increases.<br />
Check the output torque graph on the right to see whether the speed required for your desired motion is<br />
supported.<br />
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.<br />
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired<br />
motion is within the allowable range.<br />
(3) The rated acceleration while moving is 0.2G.<br />
Allowable moment of<br />
inertia (×10 -3 kg•m 2 )<br />
0.00 0 50 100 150 200 250 300 350 400 450<br />
Rotational speed (deg/sec)<br />
5<br />
4.5<br />
4<br />
3.5<br />
Deceleration ratio 1/45<br />
3<br />
2.5<br />
2.3<br />
Deceleration ratio 1/30<br />
2<br />
1.5<br />
1<br />
0.5<br />
0<br />
0 50 100 150 200 250 300 350 400 450<br />
Rotational speed (deg/sec)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-RTCS-I-20P-30-330- 1 - 2 - 3<br />
RCP2-RTCS-I-20P-45-330- 1 - 2 - 3<br />
Deceleration<br />
Ratio<br />
1/30<br />
1/45<br />
Max. Torque<br />
(N∙m)<br />
0.24<br />
0.36<br />
Allowable Moment of<br />
Inertia (kg∙m 2 )<br />
0.0023<br />
0.0035<br />
Oscillation<br />
Angle (deg)<br />
330<br />
Deceleration Ratio <strong>and</strong> Max. Speed<br />
Stroke<br />
Deceleration Ratio<br />
1/30<br />
1/45<br />
330/360<br />
(deg)<br />
400<br />
266<br />
ACON<br />
SCON<br />
RCP2-RTCSL-I-20P-30-360- 1 - 2 - 3<br />
RCP2-RTCSL-I-20P-45-360- 1 - 2 - 3<br />
1/30<br />
1/45<br />
0.24<br />
0.36<br />
0.0023<br />
0.0035<br />
360<br />
(Unit: degrees/s)<br />
Legend: 1 Compatible controller 2 Cable length 3 Options<br />
PSEL<br />
Stroke List<br />
2 Cable List<br />
ASEL<br />
SSEL<br />
XSEL<br />
Type<br />
RTCS<br />
RTCSL<br />
Oscillation Angle<br />
(deg)<br />
330<br />
360<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
Type<br />
Cable Symbol St<strong>and</strong>ard Price<br />
P (1m)<br />
–<br />
St<strong>and</strong>ard Type<br />
S (3m)<br />
–<br />
(Robot Cables)<br />
M (5m)<br />
–<br />
Special Lengths<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
–<br />
–<br />
–<br />
* The st<strong>and</strong>ard cable is the motor-encoder integrated robot cable.<br />
* See page A-39 for cables for maintenance.<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
3 Option List <strong>Actuator</strong> Specifications<br />
Name<br />
Option Code See Page St<strong>and</strong>ard Price<br />
Item<br />
Description<br />
Reversed-rotation (*)<br />
Shaft adapter<br />
Table adapter<br />
NM<br />
SA<br />
TA<br />
A-33<br />
A-35<br />
A-37<br />
–<br />
–<br />
–<br />
Drive System<br />
Positioning Repeatability<br />
Homing Accuracy<br />
Hypoid gear<br />
±0.05 degrees<br />
±0.05 degrees<br />
* Reversed-rotation option can be selected on the multi-rotational model only.<br />
Lost Motion<br />
±0.1 degrees<br />
Allowable Thrust Load<br />
30N<br />
Allowable Load Moment<br />
3.6N∙m<br />
Weight<br />
0.52kg<br />
Ambient Operating Temp./Humidity 0 40°C, 85% RH or less (non-condensing)<br />
355 RCP2-RTCS/RTCSL
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Note:<br />
* In the 2D drawing on the left,<br />
the shaded area indicates the<br />
rotating part.<br />
*1 The motor-encoder cable is connected<br />
here. See page A-39 for details on cables.<br />
Mini<br />
St<strong>and</strong>ard<br />
11.6<br />
17.5<br />
Secure at least 100<br />
Controllers<br />
Integrated<br />
68<br />
3 6<br />
ø13<br />
5.5<br />
+0.05<br />
4depth 0 4<br />
+0.04<br />
3 0 depth 2.5<br />
4<br />
29<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
22.5<br />
4-M 3 depth 7<br />
4-M3 depth 3.5<br />
7.5<br />
26<br />
22 21.8<br />
72<br />
+0.010<br />
ø3 H7 ( 0)depth 4<br />
48<br />
+0.02<br />
3 0 depth 2.5<br />
34<br />
8<br />
Cable joint<br />
connector*1<br />
4-M 3 depth 5.5<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
0<br />
ø36 h7( -0.025 )<br />
-0.007<br />
ø20 g6( -0.020 )<br />
+0.015<br />
ø7 H7( 0 ) depth 7.5<br />
Cleanroom<br />
Type<br />
4<br />
Splash-Proof<br />
45<br />
43.5<br />
42<br />
22 (7)<br />
7<br />
12<br />
+0.02<br />
3 0 depth 2.5<br />
27<br />
+0.04<br />
3 0 depth 2.5<br />
48<br />
ø11 depth 0.9<br />
36<br />
4-M 3 depth 5.5<br />
hollow hole ø6 through-hole<br />
Note:<br />
The position in the 2D drawing on the left is the<br />
home position.<br />
When homing, the actuator rotates to the left past<br />
the home position by 1 degree. Therefore please<br />
watch for any interference with the surrounding<br />
objects.<br />
The range of motion is 330 degrees clockwise, as<br />
viewed from above.<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.48<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof<br />
Solenoid Valve Type<br />
PMEC-C-20PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-20PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
PSEP-CW-20PI-NP-2-0<br />
No homing necessary with simple absolute type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-20PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-20PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial<br />
Communication Type<br />
PCON-PL-20PI-NP-2-0<br />
PCON-PO-20PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-20P Dedicated to field network 768 points – P503<br />
(−)<br />
DC24V<br />
2A max.<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control<br />
Type<br />
PSEL-C-1-20PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-RTCS/RTCSL 356<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
RCP2 ROBO Cylinder<br />
RCP2-RTB/RTBL<br />
ROBO Cylinder <strong>Rotary</strong> Medium Vertical Type 50mm Width Pulse Motor<br />
Configuration:<br />
RCP2 I 28P<br />
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option<br />
RTB : 330-degree<br />
rotation<br />
RTBL : Multi-rotational<br />
I: Incremental<br />
* The Simple<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
absolute encoder<br />
is also considered<br />
28P : 28 size<br />
Pulse motor<br />
20 : 1/20<br />
deceleration<br />
ratio<br />
30 : 1/30<br />
deceleration<br />
ratio<br />
330: 330degrees<br />
(RTB only)<br />
360: 360degrees<br />
(RTBL only)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
NM :Reversed-rotation<br />
P : 1m<br />
SA : Shaft adapter<br />
S : 3m<br />
M : 5m<br />
TA : Table adapter<br />
X : Custom<br />
R : Robot cable<br />
Speed vs. Load Capacity<br />
Due to the characteristics of the Pulse motor, the RCP2 series'<br />
load capacity decreases at high speeds. In the table below, check<br />
if your desired speed <strong>and</strong> load capacity are supported.<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Output torque (N∙m)<br />
3.5<br />
3<br />
2.5<br />
2<br />
1.7<br />
1.5<br />
1.1<br />
1<br />
0.5<br />
Output torque<br />
Deceleration ratio 1/30<br />
0.85<br />
0.55<br />
Deceleration ratio 1/20<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The output torque decreases as the rotational speed increases.<br />
Check the output torque graph on the right to see whether the speed required for your desired motion is supported.<br />
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.<br />
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is<br />
within the allowable range.<br />
(3) The rated acceleration while moving is 0.3G.<br />
Allowable moment of<br />
inertia (×10 -3 kg•m 2 )<br />
35<br />
30<br />
25<br />
20<br />
15<br />
10<br />
0 0 100 200 300 400 500 600 700<br />
Rotational speed (deg/sec)<br />
Allowable moment of inertia<br />
Deceleration ratio 1/30<br />
7.5<br />
5<br />
5<br />
Deceleration ratio 1/20<br />
0 0 100 200 300 400 500 600 700<br />
Rotational speed (deg/sec)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-RTB-I-28P-20-330- 1 - 2 - 3<br />
RCP2-RTB-I-28P-30-330- 1 - 2 - 3<br />
RCP2-RTBL-I-28P-20-360- 1 - 2 - 3<br />
RCP2-RTBL-I-28P-30-360- 1 - 2 - 3<br />
Legend: 1 Compatible controller 2 Cable length 3 Options<br />
Stroke List<br />
Type<br />
RTB<br />
RTBL<br />
Oscillation Angle<br />
(deg)<br />
330<br />
360<br />
St<strong>and</strong>ard Price<br />
Name<br />
Option Code See Page<br />
Reversed-rotation (*)<br />
NM<br />
A-33<br />
Shaft adapter<br />
SA<br />
A-35<br />
Table adapter<br />
TA<br />
A-37<br />
* Reversed-rotation option can be selected on the multi-rotational model only.<br />
–<br />
–<br />
Deceleration<br />
Ratio<br />
1/20<br />
1/30<br />
1/20<br />
1/30<br />
Max. Torque<br />
(N∙m)<br />
1.1<br />
1.7<br />
1.1<br />
1.7<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
Allowable Moment of<br />
Inertia (kg∙m 2 )<br />
0.01<br />
0.015<br />
0.01<br />
0.015<br />
Oscillation<br />
Angle (deg)<br />
330<br />
360<br />
2 Cable List<br />
Special Lengths<br />
3 Option List <strong>Actuator</strong> Specifications<br />
357 RCP2-RTB/RTBL<br />
Type<br />
St<strong>and</strong>ard Type<br />
Robot Cable<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Homing Accuracy<br />
Lost Motion<br />
Allowable Thrust Load<br />
Allowable Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Deceleration Ratio <strong>and</strong> Max. Speed<br />
Stroke<br />
Deceleration Ratio<br />
1/20<br />
1/30<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
330/360<br />
(deg)<br />
600<br />
400<br />
(Unit: degrees/s)<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Description<br />
Hypoid gear<br />
±0.01 degrees<br />
±0.01 degrees<br />
±0.1 degrees<br />
50N<br />
3.9 N∙m<br />
0.86kg<br />
0 40°C, 85% RH or less (non-condensing)
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Note:<br />
* In the drawing on the right, the<br />
shaded area indicates the<br />
rotating part.<br />
42<br />
5-M3 depth 6 ø3H7<br />
37<br />
depth 4<br />
4-M4 depth 7<br />
30 26.5<br />
88<br />
ø17<br />
6<br />
4 +0.05<br />
0 depth 3<br />
Note:<br />
The position in the drawing on the left is the<br />
home position.<br />
When homing, the actuator rotates to the left<br />
past the home position by 1 degree. Therefore<br />
please watch for any interference with the<br />
surrounding objects.<br />
The range of motion is 330 degrees clockwise,<br />
as viewed from above.<br />
Cable joint<br />
connector*1<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
ø45h7<br />
ø24h7<br />
ø11H7 depth 10<br />
ø4 +0.03<br />
0 depth 2.5<br />
4-M4 depth 8<br />
34<br />
Mini<br />
St<strong>and</strong>ard<br />
(10)<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
83.5<br />
82<br />
77<br />
71<br />
52<br />
Linear Servo<br />
Type<br />
5<br />
9<br />
Cleanroom<br />
Type<br />
50<br />
4-M4 depth 8<br />
* The bend radius R of the cable is the same<br />
as other models.<br />
5.5 39<br />
(5.5)<br />
ø4 +0.03<br />
0 depth 2.5<br />
5<br />
12<br />
56<br />
4 +0.05<br />
0 depth 2.5<br />
22<br />
34<br />
(34)<br />
*1 The motor-encoder cable is connected here.<br />
See page A-39 for details on cables.<br />
56<br />
4 +0.05<br />
0<br />
depth 2.5<br />
(28)<br />
Secure at least 100<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.86<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof Solenoid<br />
Valve Type<br />
PMEC-C-28PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-28PI-NP-2-0<br />
3 points<br />
–<br />
Operable with same signal as solenoid valve.<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
No homing necessary with simple absolute type.<br />
PSEP-CW-28PI-NP-2-0 –<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-28PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-28PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial Communication<br />
Type<br />
PCON-PL-28PI-NP-2-0<br />
PCON-PO-28PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
(−)<br />
DC24V<br />
2A max.<br />
PCON-SE-28PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-28P Dedicated to field network 768 points – P503<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control Type<br />
PSEL-C-1-28PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-RTB/RTBL 358<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
RCP2 ROBO Cylinder<br />
RCP2-RTC/RTCL<br />
ROBO Cylinder <strong>Rotary</strong> Medium Flat Type 88mm Width Pulse Motor<br />
Configuration:<br />
RCP2 I 28P<br />
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option<br />
RTC: 330-degree<br />
rotation<br />
I: Incremental<br />
* The Simple<br />
RTCL: Multi-rotational<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
absolute encoder<br />
is also considered<br />
28P : 28 size<br />
Pulse<br />
motor<br />
20 : 1/20<br />
deceleration<br />
ratio<br />
30 : 1/30<br />
deceleration<br />
ratio<br />
330: 330degrees<br />
(RTC only)<br />
360: 360degrees<br />
(RTCL only)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
P : 1m<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
NM :Reversed-rotation<br />
SA : Shaft adapter<br />
TA : Table adapter<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Speed vs. Load Capacity<br />
Due to the characteristics of the Pulse motor, the RCP2 series'<br />
load capacity decreases at high speeds. In the table below, check<br />
if your desired speed <strong>and</strong> load capacity are supported.<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Output torque (N∙m)<br />
3.5<br />
3<br />
2.5<br />
2<br />
1.7<br />
1.5<br />
1.1<br />
1<br />
0.5<br />
Output torque<br />
Deceleration ratio 1/30<br />
0.85<br />
0.55<br />
Deceleration ratio 1/20<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The output torque decreases as the rotational speed increases.<br />
Check the output torque graph on the right to see whether the speed required for your desired motion is<br />
supported.<br />
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.<br />
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired<br />
motion is within the allowable range.<br />
(3) The rated acceleration while moving is 0.3G.<br />
Allowable moment of<br />
inertia (×10 -3 kg•m 2 )<br />
35<br />
30<br />
25<br />
20<br />
15<br />
10<br />
0 0 100 200 300 400 500 600 700<br />
Rotational speed (deg/sec)<br />
Allowable moment of inertia<br />
Deceleration ratio 1/30<br />
7.5<br />
5<br />
5<br />
0 0 100<br />
Deceleration ratio 1/20<br />
200 300 400 500 600 700<br />
Rotational speed (deg/sec)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-RTC-I-28P-20-330- 1 - 2 - 3<br />
RCP2-RTC-I-28P-30-330- 1 - 2 - 3<br />
RCP2-RTCL-I-28P-20-360- 1 - 2 - 3<br />
RCP2-RTCL-I-28P-30-360- 1 - 2 - 3<br />
Legend: 1 Compatible controller 2 Cable length 3 Options<br />
Stroke List<br />
Type<br />
RTC<br />
RTCL<br />
Oscillation Angle<br />
(deg)<br />
330<br />
360<br />
St<strong>and</strong>ard Price<br />
Name<br />
Option Code See Page<br />
Reversed-rotation (*)<br />
NM<br />
A-33<br />
Shaft adapter<br />
SA<br />
A-35<br />
Table adapter<br />
TA<br />
A-37<br />
* Reversed-rotation option can be selected on the multi-rotational model only.<br />
–<br />
–<br />
Deceleration<br />
Ratio<br />
1/20<br />
1/30<br />
1/20<br />
1/30<br />
Max. Torque<br />
(N∙m)<br />
1.1<br />
1.7<br />
1.1<br />
1.7<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
Allowable Moment of<br />
Inertia (kg∙m 2 )<br />
0.01<br />
0.015<br />
0.01<br />
0.015<br />
Oscillation<br />
Angle (deg)<br />
330<br />
360<br />
2 Cable List<br />
Special Lengths<br />
3 Option List <strong>Actuator</strong> Specifications<br />
359 RCP2-RTC/RTCL<br />
Type<br />
St<strong>and</strong>ard Type<br />
Robot Cable<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Homing Accuracy<br />
Lost Motion<br />
Allowable Thrust Load<br />
Allowable Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Deceleration Ratio <strong>and</strong> Max. Speed<br />
Stroke<br />
Deceleration Ratio<br />
1/20<br />
1/30<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
330/360<br />
(deg)<br />
600<br />
400<br />
(Unit: degrees/s)<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Description<br />
Hypoid gear<br />
±0.01 degrees<br />
±0.01 degrees<br />
±0.1 degrees<br />
50N<br />
3.9 N∙m<br />
0.92kg<br />
0 40°C, 85% RH or less (non-condensing)
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Note:<br />
* In the drawing on the right, the<br />
shaded area indicates the<br />
rotating part.<br />
*1 The motor-encoder cable is connected here.<br />
See page A-39 for details on cables.<br />
Secure at least 100<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
81<br />
25<br />
42<br />
ø17<br />
6<br />
4 +0.05 0 depth 3<br />
5<br />
4 +0.05<br />
0<br />
depth 2.5<br />
35<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
5-M3 depth 6<br />
4-M4 depth 7<br />
30<br />
ø3H7<br />
37<br />
depth 4<br />
26.5<br />
88<br />
ø45h7<br />
ø24h7<br />
ø11h7 depth 10<br />
+0.05<br />
4 0 depth 2.5<br />
4-M4 depth 8<br />
56<br />
+0.03<br />
ø4 0 depth 2.5<br />
44<br />
4-M4 depth 8<br />
7.5<br />
Cable joint<br />
connector*1<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
55<br />
53.5<br />
52<br />
34<br />
6<br />
+0.03<br />
ø4 0 depth 2.5<br />
* The bend radius R of the cable is the same as<br />
other models.<br />
5<br />
34<br />
46<br />
56<br />
hollow hole ø10 through-hole<br />
ø15.4 depth 5.5<br />
Note:<br />
The position in the drawing on the left is the<br />
home position.<br />
When homing, the actuator rotates to the left<br />
past the home position by 1 degree. Therefore<br />
please watch for any interference with the<br />
surrounding objects.<br />
The range of motion is 330 degrees clockwise,<br />
as viewed from above.<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 0.92<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof Solenoid<br />
Valve Type<br />
PMEC-C-28PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-28PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
PSEP-CW-28PI-NP-2-0<br />
No homing necessary with simple absolute type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-28PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-28PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial Communication<br />
Type<br />
PCON-PL-28PI-NP-2-0<br />
PCON-PO-28PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
(−)<br />
DC24V<br />
2A max.<br />
PCON-SE-28PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-28P Dedicated to field network 768 points – P503<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control Type<br />
PSEL-C-1-28PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-RTC/RTCL 360<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
RCP2 ROBO Cylinder<br />
RCP2-RTBB/RTBBL<br />
ROBO Cylinder <strong>Rotary</strong> Large Vertical Type 76mm Width<br />
Pulse Motor<br />
Configuration:<br />
RCP2 I 35P<br />
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option<br />
RTBB : 330-degree<br />
rotation<br />
RTBBL : Multirotational<br />
I: Incremental<br />
* The Simple<br />
absolute encoder<br />
is also considered<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
35P : 35 size<br />
Pulse motor<br />
20 : 1/20<br />
deceleration<br />
ratio<br />
30 : 1/30<br />
deceleration<br />
ratio<br />
330: 330degrees<br />
(RTBB only)<br />
360: 360degrees<br />
(RTBBL only)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
P : 1m<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
NM :Reversed-rotation<br />
SA : Shaft adapter<br />
TA : Table adapter<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Speed vs. Load Capacity<br />
Due to the characteristics of the Pulse Motor, the RCP2 series'<br />
load capacity decreases at high speeds. In the table below, check<br />
if your desired speed <strong>and</strong> load capacity are supported.<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Output torque (N∙m)<br />
5.0<br />
4.5<br />
4.6<br />
4.0<br />
3.5<br />
3.0<br />
2.5<br />
2.0<br />
1.5<br />
1.0<br />
0.5<br />
Deceleration ratio 1/30<br />
1.73<br />
1.13<br />
Deceleration ratio 1/20<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The output torque decreases as the rotational speed increases.<br />
Check the output torque graph on the right to see whether the speed required for your desired motion is<br />
supported.<br />
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.<br />
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired<br />
motion is within the allowable range.<br />
(3) The rated acceleration while moving is 0.3G.<br />
Allowable moment of<br />
inertia (×10 -3 kg•m 2 )<br />
0 0 100 200 300 400 500 600 700<br />
Rotational speed (deg/sec)<br />
40<br />
35<br />
30<br />
25<br />
20<br />
15<br />
Deceleration ratio 1/30<br />
10<br />
11.3<br />
7.5<br />
5<br />
Deceleration ratio 1/20<br />
0 0 100 200 300 400 500 600 700<br />
Rotational speed (deg/sec)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-RTBB-I-35P-20-330- 1 - 2 - 3<br />
RCP2-RTBB-I-35P-30-330- 1 - 2 - 3<br />
RCP2-RTBBL-I-35P-20-360- 1 - 2 - 3<br />
RCP2-RTBBL-I-35P-30-360- 1 - 2 - 3<br />
Legend: 1 Compatible controller 2 Cable length 3 Options<br />
Stroke List<br />
Type<br />
RTBB<br />
RTBBL<br />
Oscillation Angle<br />
(deg)<br />
330<br />
360<br />
St<strong>and</strong>ard Price<br />
Name<br />
Option Code See Page<br />
Reversed-rotation (*)<br />
NM<br />
A-33<br />
Shaft adapter<br />
SA<br />
A-35<br />
Table adapter<br />
TA<br />
A-37<br />
* Reversed-rotation option can be selected on the multi-rotational model only.<br />
–<br />
–<br />
Deceleration<br />
Ratio<br />
1/20<br />
1/30<br />
1/20<br />
1/30<br />
Max. Torque<br />
(N∙m)<br />
3.0<br />
4.6<br />
3.0<br />
4.6<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
Allowable Moment of<br />
Inertia (kg∙m 2 )<br />
0.02<br />
0.03<br />
0.02<br />
0.03<br />
Oscillation<br />
Angle (deg)<br />
330<br />
360<br />
2 Cable List<br />
Special Lengths<br />
3 Option List <strong>Actuator</strong> Specifications<br />
361 RCP2-RTBB/RTBBL<br />
Type<br />
St<strong>and</strong>ard Type<br />
Robot Cable<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Homing Accuracy<br />
Lost Motion<br />
Allowable Thrust Load<br />
Allowable Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Deceleration Ratio <strong>and</strong> Max. Speed<br />
Stroke<br />
Deceleration Ratio<br />
1/20<br />
1/30<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
330/360<br />
(deg)<br />
600<br />
400<br />
(Unit: degrees/s)<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Description<br />
Hypoid gear<br />
±0.01 degrees<br />
±0.01 degrees<br />
±0.1 degrees<br />
200N<br />
17.7N∙m<br />
2.3kg<br />
0 40°C, 85% RH or less (non-condensing)
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
4-M5 depth 8.6 +0.012<br />
ø4H7 ( 0 ) depth 5<br />
ø30<br />
7<br />
+0.05<br />
5 0 depth 5<br />
Note:<br />
* In the 2D drawing on the left,<br />
the shaded area indicates the<br />
rotating part.<br />
*1 The motor-encoder cable is connected here.<br />
See page A-39 for details on cables.<br />
Mini<br />
St<strong>and</strong>ard<br />
76<br />
54<br />
Controllers<br />
Integrated<br />
6-M4 depth 7<br />
43<br />
54<br />
38.5<br />
124<br />
Cable joint<br />
connector*1<br />
Table/Arm<br />
/Flat Type<br />
0<br />
ø65 h7( -0.030)<br />
-0.009<br />
-0.025<br />
ø40 g6 ( )<br />
+0.021<br />
ø21 H7 0 depth 12.5<br />
+0.05<br />
ø5 0 depth 3.5<br />
4-M5 depth 10<br />
Mini<br />
St<strong>and</strong>ard<br />
55<br />
16<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
76<br />
107<br />
105<br />
(9.5)<br />
103<br />
ø14<br />
14.5<br />
+0.05<br />
5 0 depth 3.5<br />
6<br />
78.5<br />
4-M5<br />
depth 10<br />
95<br />
78.5<br />
6<br />
+0.05<br />
5 0 depth 3.5<br />
(40.5)<br />
16 63<br />
Secure at least 100<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Note:<br />
57<br />
9.5<br />
+0.05<br />
ø5 0<br />
34 34 depth 3.5<br />
(68) (44.5)<br />
The position in the 2D drawing on the left is the<br />
home position.<br />
When homing, the actuator rotates to the left<br />
past the home position by 1 degree. Therefore<br />
please watch for any interference with the<br />
surrounding objects.<br />
The range of motion is 330 degrees clockwise,<br />
as viewed from above.<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 2.3<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof Solenoid<br />
Valve Type<br />
PMEC-C-35PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-35PI-NP-2-0<br />
3 points<br />
–<br />
Operable with same signal as solenoid valve.<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
No homing necessary with simple absolute type.<br />
PSEP-CW-35PI-NP-2-0 –<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-35PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-35PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial Communication<br />
Type<br />
PCON-PL-35PI-NP-2-0<br />
PCON-PO-35PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
(−)<br />
DC24V<br />
2A max.<br />
PCON-SE-35PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-35P Dedicated to field network 768 points – P503<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control Type<br />
PSEL-C-1-35PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-RTBB/RTBBL 362<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
RCP2 ROBO Cylinder<br />
RCP2-RTCB/RTCBL<br />
ROBO Cylinder <strong>Rotary</strong> Large Flat Type 124mm Width Pulse Motor<br />
Configuration:<br />
RCP2 I 35P<br />
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option<br />
RTCB : 330-degree<br />
rotation<br />
I: Incremental<br />
* The Simple<br />
RTCBL : Multi-rotational<br />
type "I".<br />
* See page Pre-35 for an explanation of the naming convention.<br />
absolute encoder<br />
is also considered<br />
35P : 35 size<br />
Pulse motor<br />
20 : 1/20 deceleration<br />
ratio<br />
30 : 1/30 deceleration<br />
ratio<br />
330: 330degrees<br />
(RTB only)<br />
360: 360degrees<br />
(RTBL only)<br />
P1: PCON<br />
RPCON<br />
PSEL<br />
P3: PMEC<br />
PSEP<br />
N : None<br />
P : 1m<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
NM :Reversed-rotation<br />
SA : Shaft adapter<br />
TA : Table adapter<br />
Speed vs. Load Capacity<br />
Due to the characteristics of the Pulse motor, the RCP2 series'<br />
load capacity decreases at high speeds. In the table below, check<br />
if your desired speed <strong>and</strong> load capacity are supported.<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
Technical<br />
References<br />
P. A-5<br />
(1) The output torque decreases as the rotational speed increases.<br />
Check the output torque graph on the right to see whether the speed required for your desired motion is supported.<br />
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.<br />
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is<br />
within the allowable range.<br />
(3) The rated acceleration while moving is 0.3G.<br />
Output torque (N∙m)<br />
Allowable moment of<br />
inertia (×10 -3 kg•m 2 )<br />
5.0<br />
4.5<br />
4.6<br />
4.0<br />
3.5<br />
3.0<br />
2.5<br />
2.0<br />
1.5<br />
1.0<br />
0.5<br />
Deceleration ratio 1/20<br />
0 0 100 200 300 400 500 600 700<br />
Rotational speed (deg/sec)<br />
40<br />
35<br />
30<br />
25<br />
20<br />
15<br />
Deceleration ratio 1/30<br />
1.73<br />
Deceleration ratio 1/30<br />
1.13<br />
10<br />
11.3<br />
7.5<br />
5<br />
Deceleration ratio 1/20<br />
0 0 100 200 300 400 500 600 700<br />
Rotational speed (deg/sec)<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
RCP2-RTCB-I-35P-20-330- 1 - 2 - 3<br />
RCP2-RTCB-I-35P-30-330- 1 - 2 - 3<br />
RCP2-RTCBL-I-35P-20-360- 1 - 2 - 3<br />
RCP2-RTCBL-I-35P-30-360- 1 - 2 - 3<br />
Legend: 1 Compatible controller 2 Cable length 3 Options<br />
Stroke List<br />
Type<br />
RTCB<br />
RTCBL<br />
Oscillation Angle<br />
(deg)<br />
330<br />
360<br />
St<strong>and</strong>ard Price<br />
Name<br />
Option Code See Page<br />
Reversed-rotation (*)<br />
NM<br />
A-33<br />
Shaft adapter<br />
SA<br />
A-35<br />
Table adapter<br />
TA<br />
A-37<br />
* Reversed-rotation option can be selected on the multi-rotational model only.<br />
–<br />
–<br />
Deceleration<br />
Ratio<br />
1/20<br />
1/30<br />
1/20<br />
1/30<br />
Max. Torque<br />
(N∙m)<br />
3.0<br />
4.6<br />
3.0<br />
4.6<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
Allowable Moment of<br />
Inertia (kg∙m 2 )<br />
0.02<br />
0.03<br />
0.02<br />
0.03<br />
Oscillation<br />
Angle (deg)<br />
330<br />
360<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
3 Option List <strong>Actuator</strong> Specifications<br />
363 RCP2-RTCB/RTCBL<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Homing Accuracy<br />
Lost Motion<br />
Allowable Thrust Load<br />
Allowable Load Moment<br />
Weight<br />
Ambient Operating Temp./Humidity<br />
Deceleration Ratio <strong>and</strong> Max. Speed<br />
Stroke<br />
Deceleration Ratio<br />
1/20<br />
1/30<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
330/360<br />
(deg)<br />
600<br />
400<br />
(Unit: degrees/s)<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Description<br />
Hypoid gear<br />
±0.01 degrees<br />
±0.01 degrees<br />
±0.1 degrees<br />
200N<br />
17.7N∙m<br />
2.2kg<br />
0 40°C, 85% RH or less (non-condensing)
Dimensions<br />
RCP2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Note:<br />
* In the 2D drawing on the left,<br />
the shaded area indicates the<br />
rotating part.<br />
Mini<br />
St<strong>and</strong>ard<br />
14.5<br />
Secure at least 100<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
114<br />
54<br />
ø14<br />
7<br />
+0.05<br />
5 0 depth 5<br />
+0.05<br />
5 0 depth 3.5<br />
Mini<br />
St<strong>and</strong>ard<br />
38<br />
ø30<br />
11 54<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
4-M5 depth 8.6<br />
6-M4 depth 7<br />
43<br />
6<br />
54<br />
38.5<br />
124<br />
0<br />
ø65 h7( -0.030)<br />
-0.009<br />
ø40 g6( -0.025 )<br />
+0.012<br />
ø4 H7( 0 )<br />
depth 5<br />
+0.021<br />
ø21 H7( 0 ) depth 12.5<br />
+0.05<br />
5 0 depth 3.5<br />
78.5<br />
+0.05<br />
ø5depth 0 3.5<br />
54<br />
4-M 5 depth 10<br />
Cable joint<br />
connector*1<br />
*1 The motor-encoder cable is connected here.<br />
See page A-39 for details on cables.<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Splash-Proof<br />
Note:<br />
68<br />
66<br />
64<br />
40<br />
8<br />
+0.05<br />
ø5depth 0 3.5<br />
68<br />
78.5<br />
4-M5<br />
depth 10<br />
56<br />
Hollow bore ø20, through-hole<br />
ø27 depth 3.5<br />
The position in the 2D drawing on the left<br />
is the home position.<br />
When homing, the actuator rotates to the<br />
left past the home position by 1 degree.<br />
Therefore please watch for any<br />
interference with the surrounding objects.<br />
The range of motion is 330 degrees<br />
clockwise, as viewed from above.<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 2.2<br />
PCON<br />
1 Compatible Controllers<br />
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity St<strong>and</strong>ard Price See Page<br />
Solenoid Valve Type<br />
Splash-Proof Solenoid<br />
Valve Type<br />
PMEC-C-35PI-NP-2-1<br />
Easy-to-use controller, even for beginners<br />
AC100V<br />
AC200V<br />
See P481 – P477<br />
PSEP-C-35PI-NP-2-0<br />
Operable with same signal as solenoid valve.<br />
3 points<br />
–<br />
Supports both single <strong>and</strong> double solenoid <strong>types</strong>.<br />
PSEP-CW-35PI-NP-2-0<br />
No homing necessary with simple absolute type.<br />
–<br />
P487<br />
ACON<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Positioner Type<br />
Safety-Compliant<br />
Positioner Type<br />
PCON-C-35PI-NP-2-0<br />
–<br />
Positioning is possible for up to 512 points<br />
512 points<br />
PCON-CG-35PI-NP-2-0 –<br />
Pulse Train Input Type<br />
(Differential Line Driver)<br />
Pulse Train Input Type<br />
(Open Collector)<br />
Serial Communication<br />
Type<br />
PCON-PL-35PI-NP-2-0<br />
PCON-PO-35PI-NP-2-0<br />
Pulse train input type with<br />
differential line driver support<br />
Pulse train input type with<br />
open collector support<br />
(−)<br />
DC24V<br />
2A max.<br />
PCON-SE-35PI-N-0-0 Dedicated to serial communication 64 points –<br />
Field Network Type RPCON-35P Dedicated to field network 768 points – P503<br />
–<br />
–<br />
P525<br />
Pulse Motor<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Program Control Type<br />
PSEL-C-1-35PI-NP-2-0<br />
Programmed operation is possible<br />
Operation is possible on up to 2 axes<br />
1500 points – P557<br />
* This is for the single-axis PSEL.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).<br />
RCP2-RTCB/RTCBL 364<br />
Linear<br />
Servo Motor
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
RCS2 ROBO Cylinder<br />
RCS2-RT6<br />
SA4D : Aluminum<br />
base<br />
SS4D : Steel base<br />
ROBO Cylinder <strong>Rotary</strong> Straight Motor Model 64mm Width 200V Servo Motor<br />
Configuration:<br />
RCS2 RT6 I 60 18 300 L<br />
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option<br />
* See page Pre-35 for an explanation of the naming convention.<br />
I: Incremental 60 : 60W Servo<br />
Motor<br />
18: 1/18 300: 300degrees T1:XSEL-J/K<br />
T2:SCON<br />
SSEL<br />
XSEL-P/Q<br />
N : None<br />
L : Limit switch<br />
P : 1m<br />
(equipped as st<strong>and</strong>ard)<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Technical<br />
References<br />
P. A-5<br />
Splash-Proof<br />
Controllers<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
(1) The thrust load is the mechanical strength of the output axis at rest.<br />
When selecting, take into account the load moment <strong>and</strong> the load inertia.<br />
(2) The rated acceleration while moving is 0.3G.<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
Legend: 1 Compatible controller 2 Cable length<br />
Motor<br />
Output (W)<br />
Deceleration Rated torque<br />
Ratio (N∙m)<br />
Allowable Moment of<br />
Inertia (kg∙m 2 )<br />
Oscillation<br />
Angle (deg)<br />
RCS2-RT6-I-60-18-300- 1 - 2 -L 60 1/18 2.4 2.5×10 -2 or less 300<br />
Stroke <strong>and</strong> Maximum Speed<br />
Oscillation Angle<br />
Deceleration Ratio<br />
1/18<br />
300<br />
(deg)<br />
500<br />
(Unit: degrees/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Stroke List<br />
Oscillation Angle<br />
(deg)<br />
300<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
<strong>Actuator</strong> Specifications<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
365 RCS2-RT6<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Lost Motion<br />
Base<br />
Allowable Load Moment<br />
Thrust load<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Ball speed reducer<br />
±0.02 degrees<br />
0.1 degrees or less<br />
Material: Aluminum (white alumite treated)<br />
6.8N∙m or less<br />
100N or less<br />
0 40°C, 85% RH or less (non-condensing)
Dimensions<br />
RCS2 ROBO Cylinder<br />
Slider<br />
Type<br />
For Special Orders P. A-9<br />
Mini<br />
* For more information on homing, see page A-79.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
(200)<br />
Cable joint<br />
connector*1<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
4-M6 depth 12<br />
(13.3)<br />
Mini<br />
ø12h7<br />
St<strong>and</strong>ard<br />
50<br />
64<br />
ø40h7<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
15<br />
27<br />
50<br />
64<br />
25 5 41.5<br />
50<br />
30 103.5<br />
12<br />
234.5<br />
101<br />
Secure at<br />
least 40<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
*1 The motor cable, encoder cable, <strong>and</strong> limit<br />
switch cable are connected here.<br />
See page A-39 for details on cables.<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 1.9<br />
PCON<br />
ACON<br />
1 Compatible Controllers<br />
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
SCON<br />
Name External View Model<br />
Description Max. Positioning Points Input Voltage Power Supply Capacity<br />
St<strong>and</strong>ard Price<br />
See Page<br />
PSEL<br />
Positioner Mode<br />
Positioning is<br />
possible for up to 512<br />
points<br />
512 points<br />
ASEL<br />
Solenoid Valve Mode<br />
Operable with the<br />
same controls as the<br />
solenoid valve<br />
7 points<br />
SSEL<br />
SCON-C-60-NP-2-1<br />
–<br />
P547<br />
XSEL<br />
Serial<br />
Communication Type<br />
Dedicated to serial<br />
communication<br />
64 points<br />
Single-phase AC100V<br />
360VA max.<br />
Single-phase AC200V<br />
Pulse Train Input<br />
Control Type<br />
Dedicated to pulse<br />
train input<br />
(−)<br />
Three-phase AC200V<br />
(XSEL-P/Q only)<br />
* When operating a<br />
150W single-axis<br />
model<br />
Pulse Motor<br />
Program Control<br />
1-2 Axes Type<br />
SSEL-C-1-60-NP-2-1<br />
Programmed<br />
operation is possible<br />
Operation is possible<br />
on up to 2 axes<br />
20000 points<br />
–<br />
P577<br />
Servo Motor<br />
(24V)<br />
Program Control<br />
1-6 Axes Type<br />
XSEL-2-1-60-N1-EEE-2-3<br />
Programmed<br />
operation is possible<br />
Operation is possible<br />
on up to 6 axes<br />
20000 points<br />
–<br />
P587<br />
Servo Motor<br />
(200V)<br />
* For SSEL <strong>and</strong> XSEL, only applicable to the single-axis model.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).<br />
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),<br />
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).<br />
Linear<br />
Servo Motor<br />
RCS2-RT6 366
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
RCS2 ROBO Cylinder<br />
RCS2-RT6R<br />
SA4D : Aluminum<br />
base<br />
SS4D : Steel base<br />
ROBO Cylinder <strong>Rotary</strong> Side-Mounted Motor 64mm Width 200V Servo Motor<br />
Configuration:<br />
RCS2 RT6R I 60 18 300 L<br />
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option<br />
* See page Pre-35 for an explanation of the naming convention.<br />
I: Incremental 60 : 60W Servo<br />
Motor<br />
18: 1/18 300: 300degrees T1:XSEL-J/K<br />
T2:SCON<br />
SSEL<br />
XSEL-P/Q<br />
N : None L : Limit switch<br />
P : 1m<br />
(equipped as st<strong>and</strong>ard)<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Technical<br />
References<br />
P. A-5<br />
Splash-Proof<br />
Controllers<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
(1) The thrust load is the mechanical strength of the output axis at rest.<br />
When selecting, take into account the load moment <strong>and</strong> the load inertia.<br />
(2) The rated acceleration while moving is 0.3G.<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
Legend: 1 Compatible controller 2 Cable length<br />
Motor<br />
Output (W)<br />
Deceleration<br />
Ratio<br />
Rated Allowable Moment of Inertia<br />
torque (N∙m)<br />
(kg∙m 2 )<br />
Oscillation<br />
Angle (deg)<br />
RCS2-RT6R-I-60-18-300- 1 - 2 -L 60 1/18 2.4 2.5×10 -2 or less 300<br />
Stroke <strong>and</strong> Maximum Speed<br />
Oscillation Angle<br />
300 (deg)<br />
Deceleration Ratio<br />
1/18<br />
500<br />
(Unit: degrees/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
Stroke List<br />
Oscillation<br />
Angle (deg)<br />
300<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m)<br />
X11 (11m)<br />
X16 (16m)<br />
R01 (1m)<br />
R04 (4m)<br />
R06 (6m)<br />
R11 (11m)<br />
R16 (16m)<br />
Cable Symbol<br />
X10 (10m)<br />
X15 (15m)<br />
X20 (20m)<br />
R03 (3m)<br />
R05 (5m)<br />
R10 (10m)<br />
R15 (15m)<br />
R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
<strong>Actuator</strong> Specifications<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
367 RCS2-RT6R<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Lost Motion<br />
Base<br />
Allowable Load Moment<br />
Thrust load<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Ball speed reducer + timing belt<br />
±0.02 degrees<br />
0.1 degrees or less<br />
Material: Aluminum (white alumite treated)<br />
6.8N∙m or less<br />
100N or less<br />
0 40°C, 85% RH or less (non-condensing)
Dimensions<br />
RCS2 ROBO Cylinder<br />
Slider<br />
Type<br />
For Special Orders P. A-9<br />
Mini<br />
* For more information on homing, see page A-79.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
62 32<br />
84<br />
31.5<br />
Secure at least 40<br />
(13.3)<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
17.5<br />
66<br />
21<br />
St<strong>and</strong>ard<br />
6<br />
32<br />
50<br />
64<br />
130<br />
ø40h7<br />
ø12h7<br />
Cable joint<br />
connector*1<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
(200)<br />
50<br />
64<br />
4-M6 depth 12<br />
25 5 41.5<br />
50<br />
30 147.5<br />
177.5<br />
24.5<br />
5<br />
26.5<br />
Cleanroom<br />
Type<br />
*1 The motor cable, encoder cable, <strong>and</strong> limit<br />
switch cable are connected here.<br />
See page A-39 for details on cables.<br />
Splash-Proof<br />
Controllers<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 2.8<br />
PCON<br />
ACON<br />
1 Compatible Controllers<br />
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
SCON<br />
Name External View Model<br />
Description Max. Positioning Points Input Voltage Power Supply Capacity<br />
St<strong>and</strong>ard Price<br />
See Page<br />
PSEL<br />
Positioner Mode<br />
Positioning is<br />
possible for up to 512<br />
points<br />
512 points<br />
ASEL<br />
Solenoid Valve Mode<br />
Operable with the<br />
same controls as the<br />
solenoid valve<br />
7 points<br />
SSEL<br />
SCON-C-60-NP-2-1<br />
–<br />
P547<br />
XSEL<br />
Serial<br />
Communication Type<br />
Dedicated to serial<br />
communication<br />
64 points<br />
Single-phase AC100V<br />
360VA max.<br />
Single-phase AC200V<br />
Pulse Train Input<br />
Control Type<br />
Dedicated to pulse<br />
train input<br />
(−)<br />
Three-phase AC200V<br />
(XSEL-P/Q only)<br />
* When operating a<br />
150W single-axis<br />
model<br />
Pulse Motor<br />
Program Control<br />
1-2 Axes Type<br />
SSEL-C-1-60-NP-2-1<br />
Programmed<br />
operation is possible<br />
Operation is possible<br />
on up to 2 axes<br />
20000 points<br />
–<br />
P577<br />
Servo Motor<br />
(24V)<br />
Program Control<br />
1-6 Axes Type<br />
XSEL-2-1-60-N1-EEE-2-3<br />
Programmed<br />
operation is possible<br />
Operation is possible<br />
on up to 6 axes<br />
20000 points<br />
–<br />
P587<br />
Servo Motor<br />
(200V)<br />
* For SSEL <strong>and</strong> XSEL, only applicable to the single-axis model.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).<br />
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),<br />
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).<br />
Linear<br />
Servo Motor<br />
RCS2-RT6R 368
Slider<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
RCS2 ROBO Cylinder<br />
RCS2-RT7R<br />
SA4D : Aluminum<br />
base<br />
SS4D : Steel base<br />
ROBO Cylinder <strong>Rotary</strong> Side-Mounted Motor (Hollow Motor Shaft) 68mm Width<br />
200V Servo Motor<br />
Configuration:<br />
RCS2 RT7R I 60 4 300 L<br />
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option<br />
* See page Pre-35 for an explanation of the naming convention.<br />
I: Incremental 60 : 60W Servo<br />
Motor<br />
4: 1/4 300: 300degrees T1: XSEL-J/K<br />
T2: SCON<br />
SSEL<br />
XSEL-P/Q<br />
N : None L : Limit switch<br />
P : 1m<br />
(equipped as st<strong>and</strong>ard)<br />
S : 3m<br />
M : 5m<br />
X : Custom<br />
R : Robot cable<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Table/Arm<br />
/Flat Type<br />
Mini<br />
St<strong>and</strong>ard<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
Technical<br />
References<br />
P. A-5<br />
Splash-Proof<br />
Controllers<br />
P O<br />
I N T<br />
Notes on<br />
Selection<br />
(1) The thrust load is the mechanical strength of the output axis at rest.<br />
When selecting, take into account the load moment <strong>and</strong> the load inertia.<br />
(2) The rated acceleration while moving is 0.3G.<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
PCON<br />
ACON<br />
<strong>Actuator</strong> Specifications<br />
Lead <strong>and</strong> Load Capacity<br />
Model<br />
Legend: 1 Compatible controller 2 Cable length<br />
Motor Output Deceleration<br />
(W) Ratio<br />
Rated Allowable Moment of Inertia<br />
torque (N∙m)<br />
(kg∙m 2 )<br />
Oscillation<br />
Angle (deg)<br />
RCS2-RT7R-I-60-4-300- 1 - 2 -L 60 1/4 0.764 1.25×10 -3 or less 300<br />
Stroke <strong>and</strong> Maximum Speed<br />
Oscillation Angle<br />
Deceleration Ratio<br />
1/4<br />
300<br />
(deg)<br />
500<br />
(Unit: degrees/s)<br />
SCON<br />
PSEL<br />
ASEL<br />
SSEL<br />
XSEL<br />
Pulse Motor<br />
<br />
Stroke List<br />
Oscillation Angle<br />
(deg)<br />
300<br />
St<strong>and</strong>ard Price<br />
–<br />
2 Cable List<br />
Type<br />
St<strong>and</strong>ard Type<br />
Special Lengths<br />
Robot Cable<br />
Cable Symbol<br />
P (1m)<br />
S (3m)<br />
M (5m)<br />
X06 (6m) X10 (10m)<br />
X11 (11m) X15 (15m)<br />
X16 (16m) X20 (20m)<br />
R01 (1m) R03 (3m)<br />
R04 (4m) R05 (5m)<br />
R06 (6m) R10 (10m)<br />
R11 (11m) R15 (15m)<br />
R16 (16m) R20 (20m)<br />
* See page A-39 for cables for maintenance.<br />
St<strong>and</strong>ard Price<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
–<br />
Servo Motor<br />
(24V)<br />
<strong>Actuator</strong> Specifications<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
369 RCS2-RT7R<br />
Item<br />
Drive System<br />
Positioning Repeatability<br />
Lost Motion<br />
Base<br />
Allowable Load Moment<br />
Thrust load<br />
Ambient Operating Temp./Humidity<br />
Description<br />
Timing Belt<br />
±0.1 degrees<br />
0.5 degrees or less<br />
Material: Aluminum (white alumite treated)<br />
8.9N∙m or less<br />
100N or less<br />
0 40°C, 85% RH or less (non-condensing)
Dimensions<br />
RCS2 ROBO Cylinder<br />
For Special Orders P. A-9<br />
Slider<br />
Type<br />
Mini<br />
* For more information on homing, see page A-79.<br />
St<strong>and</strong>ard<br />
Controllers<br />
Integrated<br />
Rod<br />
Type<br />
Mini<br />
St<strong>and</strong>ard<br />
Secure at least 40<br />
Controllers<br />
Integrated<br />
62<br />
2<br />
84<br />
(13.3)<br />
Table/Arm<br />
/Flat Type<br />
17.5<br />
66<br />
21<br />
Mini<br />
St<strong>and</strong>ard<br />
ø9 through-hole<br />
6<br />
50<br />
68<br />
134<br />
ø58h7<br />
ø14h7<br />
Cable joint<br />
connector*1<br />
<strong>Gripper</strong>/<br />
<strong>Rotary</strong> Type<br />
50<br />
68<br />
34<br />
4-M6 depth 12<br />
4.5<br />
25.5<br />
86 5 33.5<br />
30 124.5<br />
156<br />
1.5<br />
(200)<br />
Linear Servo<br />
Type<br />
Cleanroom<br />
Type<br />
*1 The motor cable, encoder cable, <strong>and</strong> limit<br />
switch cable are connected here.<br />
See page A-39 for details on cables.<br />
2-M8 depth 12<br />
Splash-Proof<br />
46<br />
Controllers<br />
30<br />
PMEC<br />
/AMEC<br />
PSEP<br />
/ASEP<br />
ROBO<br />
NET<br />
ERC2<br />
Weight (kg) 2.6<br />
PCON<br />
1 Compatible Controllers<br />
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.<br />
ACON<br />
SCON<br />
Name External View Model<br />
Description Max. Positioning Points Input Voltage Power Supply Capacity<br />
Positioner Mode<br />
Positioning is<br />
possible for up to 512<br />
points<br />
512 points<br />
St<strong>and</strong>ard Price<br />
See Page<br />
PSEL<br />
ASEL<br />
Solenoid Valve Mode<br />
Operable with the<br />
same controls as the<br />
solenoid valve<br />
7 points<br />
SSEL<br />
SCON-C-60-NP-2-1<br />
–<br />
P547<br />
XSEL<br />
Serial<br />
Communication Type<br />
Dedicated to serial<br />
communication<br />
64 points<br />
Single-phase AC100V<br />
360VA max.<br />
Single-phase AC200V<br />
Pulse Train Input<br />
Control Type<br />
Dedicated to pulse<br />
train input<br />
(−)<br />
Three-phase AC200V<br />
(XSEL-P/Q only)<br />
* When operating a<br />
150W single-axis<br />
model<br />
Pulse Motor<br />
Program Control<br />
1-2 Axes Type<br />
Program Control<br />
1-6 Axes Type<br />
SSEL-C-1-60-NP-2-1<br />
XSEL-2-1-60-N1-EEE-2-3<br />
Programmed<br />
operation is possible<br />
Operation is possible<br />
on up to 2 axes<br />
Programmed<br />
operation is possible<br />
Operation is possible<br />
on up to 6 axes<br />
20000 points<br />
20000 points<br />
–<br />
–<br />
P577<br />
P587<br />
* For SSEL <strong>and</strong> XSEL, only applicable to the single-axis model.<br />
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).<br />
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),<br />
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).<br />
Servo Motor<br />
(24V)<br />
Servo Motor<br />
(200V)<br />
Linear<br />
Servo Motor<br />
RCS2-RT7R 370