Electric grippers dedicated to the RCX240/RCX340 controller. Easy operation is achieved as YAMAHA robot language gives unified control.

Transcription

1 YRG Series Product ineup EECTRIC GRIPPERS grippers dedicated to the RCX24/RCX34. Easy operation is achieved as YM robot language gives unified control. Gripping force control Gripping force can be set in 1 % steps from 3 to 1 %. Measuring Workpiece can be measured using position detection function. Speed control Speed can be set in 1 % steps from 2 to 1 % and acceleration can be set in 1 % steps from 1 to 1 %. Multi-point position control Up to 1, positioning points can be set. Workpiece check function Workpiece gripping mistake or workpiece drop can be checked by the OD output signal without using sensor. 88

2 Plenty of lightweight and compact model variations S type Single cam type P.585 ightweight, compact, high-speed Small single cam YRG-25SS YRG-21S YRG-2815S YRG-4225S Single cam structure Use of an unique cam structure achieves the simple and compact design. s the self-lock is not activated, the fingers can be operated using an external force. W type Double cam type P.587 igh gripping force Double cam structure Unique double cam structure with gear. Use of a simple structure achieves high gripping force with compact body. YRG-25W YRG-281W YRG-422W Screw type Straight shape P.588 igh accuracy, long stroke Screw type "T" shape P.589 YRG-22S/YRG-284S YRG-22T/YRG-284T Ball screw structure s the ground ball screw is driven by the belt, the long stroke with high efficiency and high accuracy is achieved. Three fingers type P.59, high rigidity, long stroke YRG-24T YRG-213T YRG-282T YRG-423T ball guide structure Use of a special cam provides lightweight and compact electric grippers. These electric grippers are suitable for transfer of round workpieces made of glass or similar materials. Type Model Gripping force(n) Open/close stroke (mm) Maximum speed (mm/sec.) Gripping force control: 3 to 1 % (1 % steps) Speed control: 2 to 1 % (1 % steps) cceleration control: 1 to 1 % (1 % steps) Multi-point position control: Maximum 1, points Workpiece size judgment:.1 mm steps (by ZON signal) Repeated positioning accuracy (mm) Main body weight (g) single cam YRG-25SS /-.2 9 P.585 Single cam Double cam Screw type Straight shape Screw type "T" shape Three fingers type YRG-21S / YRG-2815S /-.2 3 YRG-4225S / YRG-25W /-.3 2 YRG-281W / YRG-422W /-.3 8 YRG-22S / YRG-284S / P.588 YRG-22T / YRG-284T / P.589 YRG-24T /-.3 9 P.59 YRG-213T / YRG-282T / P.591 YRG-423T / Page P.586 P

3 Product ineup POINT 1 grippers achieve highly accurate gripping force, and position, and speed controls. The YRG series provides the gripping force control, speed and acceleration controls, multi-point control, and workpiece measurement that were difficult by conventional air-driven devices. The YRG series flexibly supports various applications. Gripping force control The gripping force can be set in 1 % steps. Workpieces that are easy to break or deform, such as glass or spring can be gripped. The gripping force is constant even when the finger position changes. ir pressure type ine adjustment of the regulator is difficult. type Gripping force can be set in 1 % steps from 3 % to 1 %. Multi-point position control The finger can be set to a desired position according to the workpiece size. This contributes to efficiency improvement of lines with different workpiece sizes and materials mixed and lines with many setup steps. ir pressure type oss is generated in the stroke. type oss is not generated in the stroke as optimal positioning accuracy is maintained. Workpiece presence check function The electric gripper outputs the OD signal. Workpiece gripping mistake or workpiece drop during transfer can be checked. No external sensors are needed. ir pressure type Workpiece gripping mistake or drop is judged using the sensor or image processing unit. type Workpiece drop can be judged. No external sensor is needed. Measuring function The gripped workpiece can be measured using the position detection. Use of this function makes it possible to correctly judge what portion of the workpiece is gripped. Zone range function Use of this zone range function makes it possible to judge the size OK/NG and check for slant insertion. Contributes to tact improvement. Speed control The speed and acceleration can be set in a range of 2 to 1 mm/sec. in 1 % steps (singe cam and three fingers type). The gripper can gently touch workpieces that are vulnerable to impact, such as lenses or electronic components. POINT 2 Gripper can be controlled with commands. The gripper controls can be performed with one multi-axis RCX24/RCX34. Data exchanging with the host unit, such as PC is not needed. The setup or startup can be made easily. ist of robot languages (example) anguage name GDRIVE GDRIVEI GOD GODI GOPEN GCOSE GORIGIN GSTTUS ORIGIN WERE WERE2 WRXY WRXY2 unction bsolute position movement Relative position movement bsolute position gripping movement Relative position gripping movement Constant speed gripping movement (open) Constant speed gripping movement (close) Gripper axis return-to-origin Status acquisition Return-to-origin Main group current position acquisition (joint coordinate: pulse) Sub group current position acquisition (joint coordinate: pulse) Main group current position acquisition ( coordinate: mm, degree) Sub group current position acquisition ( coordinate: mm, degree) 9

4 POINT 3 Combination with a vision system supports a wide variety of applications. s the YRG series is combined with integrated robot vision "ivy System", the operations from the positioning using the camera to workpiece handling can be controlled in the batch mode using the RCX24/RCX34. Sophisticated systems can be easily configured. vision: ivy System Camera ight gripper: YRG series RCX24 Gripping force comparison of electric gripper models Type Model Open/close stroke (mm) Gripping force (N) single cam YRG-25SS YRG-21S Single cam YRG-2815S YRG-4225S YRG-25W Double cam YRG-281W YRG-422W Screw type Straight shape YRG-22S 19 YRG-284S Screw type "T" shape YRG-22T 19 YRG-284T YRG-24T Three fingers type YRG-213T 13 YRG-282T YRG-423T pplication examples Deformation prevention transfer of resin rings, etc. Chip assembly transfer Deformation prevention and lead protrusion dimension check Transfer and dimension check of flexible workpieces with different sizes <Gripping inner sides> <Gripping outer sides> Measuring function (Maintains workpiece shape.) Gripping force control (Maintains workpiece shape and prevents scratches.) Speed control (Maintains workpiece shape and prevents scratches.) Multi-point position control (pplicable to many part types of workpieces.) Note. ir unit cannot control the gripping force and speed, causing workpiece to be scratched or tact time not to be shortened. Measuring function (Checks lead protrusion dimensions.) Gripping force control (Maintains workpiece shape and prevents scratches.) Speed control (Maintains workpiece shape and prevents scratches.) Multi-point position control (pplicable to many part types of workpieces.) Measuring function (Checks lead protrusion dimensions.) Gripping force control (Prevents workpiece deformation.) Speed control (Prevents scratches.) Multi-point position control (pplicable to many part types of workpieces.) Reduction of setup work (Improves productivity.) 91

5 PWR RDY RUN M 24V V rticulated Y gripper YRG series inear conveyor CM1 single-axis TRNSERVO Single-axis IP-X Simple gripper operation and control via the YM robot language. Just install a gripper control board into the and set the electrical gripper as an additional robot axis. YRG-25W YRG-281W YRG-422W inear motor single-axis PSER Main functions P.88 YRG-25SS YRG-21S YRG-2815S YRG-4225S SCR YRG-22S/YRG-284S YRG-22T/YRG-284T YRG-24T YRG-213T YRG-282T YRG-423T YP-X CEN CONTROER INORMTION Structure Single cam structure Unique cam structure is simple and compact. The fingers work due to external force since no self-locking is used. System configuration illustration RCX24 XM YM ZM RM Programming box RPB MOTOR ROB I/O XY BTT XY ROB I/O ZR PWR SRV RPB SE COM BTT STD.DIO ZR SETY EXT.E-STOP ERR YM robot OP.1 OP.2 OP.3 OP.4 RCX24 P N N 1 N1 RGEN CIN SCR robot Single-axis robot Double cam structure Unique double cam structure with gear. Simple design gives high gripping power yet body is compact. (for gripper) cable Drive power supply for electric gripper DC24V PC gripper Relay cable Ball screw structure Belt-driven ground ball screw delivers a long stroke with high efficiency and high precision. RCX34 Programming box YM robot SCR robot Single-axis robot ball guide structure Use of special cams provides light weight and compactness. Ideal for grasping and moving a round workpiece made of glass or similar material. PC Gripper Drive power supply for gripper DC24V Relay cable 584

6 single cam type YRG-25SS Basic specifications Model name Model number olding power YRG-25SS KC-M21- Max. continuous rating (N) 5 Min. setting (% (N)) 3 (1.5) Resolution (% (N)) 1 (.5) Open/close stroke (mm) 3.2 Max. rating (mm/sec) 1 Min. setting (% (mm/sec)) 2 (2) Speed Resolution (% (mm/sec)) 1 (1) olding speed (Max.) (%) 5 Repetitive positioning accuracy (mm) +/-.2 Guide mechanism inear guide Max. holding weight Note 1 (kg).5 Weight (g) 9 oding power control : 3 to 1% (1% steps) Speed control : 2 to 1% (1% steps) cceleration control : 1 to 1% (1% steps) Multipoint position control : 1, max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger. Note 1. Design the weight of a workpiece to be held so that it is approximately 1/1 to 1/2 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.) Gripping power vs. gripping power setting (%) YRG-25SS Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power. rticulated Y inear conveyor CM1 single-axis TRNSERVO Single-axis IP-X inear motor single-axis PSER llowable load and load moment SCR YRG-25SS llowable load N 12 Guide llowable pitching moment Mp N m.4 llowable yawing moment My N m.4 llowable rolling moment Mr N m.8 Max. weight (1 pair) g 1 inger Max. holding position mm 2 Max. overhang mm 2 Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. Make the adjustment so that the finger weight, holding length () from the installation surface to the holding point, and overhang () do not exceed the values stated in the table above. Please contact your YM sales dealer for further information on combination of and. YRG-25SS ф17 ( ) Effective depth, 1.5 (12) 18±1 (Overall length of cable and connector) 2-M3 Effective depth,3 (16.5) Connector Wiring port and encoder cover (eat shrinkable tube) 2.5±.1 16 My Mp Mr 2-M2 Effective depth,3.5 (or finger installation) YP-X CEN CONTROER INORMTION B 3.5 4±.3 11±.1 2-ф (Positioning pin) (5.8) to 9 3.2st 2 1 (29.3) (61.8) (44.2) ± ± ±.1 8±.3 6± ±.1 View of B () to 4 2-M3 Effective depth,3 2-ф17 ( +.1 ) Effective depth, ±.1 View of Note. void extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the root of the cable. 585

7 rticulated Y inear conveyor CM1 single-axis TRNSERVO Single-axis IP-X inear motor single-axis PSER SCR YP-X CEN CONTROER INORMTION Single cam type YRG-21S/2815S/4225S Basic specifications Model name Model number olding power YRG-21S YRG-2815S YRG-4225S KC-M211- KC-M211-B KC-M211-C Max. continuous rating (N) Min. setting (% (N)) 3 (1.8) 3 (6.6) 3 (12) Resolution (% (N)) 1 (.6) 1 (.22) 1 (.4) Open/close stroke (mm) Max. rating (mm/sec) 1 Speed Min. setting (% (mm/sec)) 2 (2) Resolution (% (mm/sec)) 1 (1) olding speed (Max.) (%) 5 Repetitive positioning accuracy (mm) +/-.2 Guide mechanism inear guide Max. holding weight Note 1 (kg) Weight (g) oding power control : 3 to 1% (1% steps) Speed control : 2 to 1% (1% steps) cceleration control : 1 to 1% (1% steps) Multipoint position control : 1, max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger. Note 1. Design the weight of a workpiece to be held so that it is approximately 1/1 to 1/2 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.) llowable load and load moment Gripping power vs. gripping power setting (%) YRG-21S YRG-2815S YRG-4225S llowable load N Guide llowable pitching moment Mp N m llowable yawing moment My N m llowable rolling moment Mr N m Max. weight (1 pair) g inger Max. holding position mm Max. overhang mm Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. Make the adjustment so that the finger weight, holding length () from the installation surface to the holding point, and overhang () do not exceed the values stated in the table above. Please contact your YM sales dealer for further information on combination of and. YRG-21S/2815S/4225S 2 4-U Effective depth V D W Installation surface E Q +.1 φ37 ( ) Depth 2 B φ67 ( +.12 ) Depth 2 S Installation surface Z 4-U Effective depth, V SB Installation surface R 2 4-U Effective depth VB (lso installable on the opposite side.) CB B Installation surface 2- G YRG-4225S YRG-2815S YRG-21S Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power. ED B B CB D E ED G J YRG-21S to 16 ф YRG-2815S to 23.9 ф YRG-4225S to 35.5 ф R B Installation surface 2 1-N Effective depthp or attachment installation SC N Effective depthp or attachment installation 7.5 View of B YRG-21S YRG-2815S M J TE 12.5 View of Mp YRG-4225S M N P Q R R S SB SC TE U V V VB W Z YRG-21S 12.1 M / M YRG-2815S 15 M / M YRG-4225S 17.4 M / M My M J 14 Mr 586

8 Double cam type YRG-25W/281W/422W Basic specifications Model name Model number olding power YRG-25W YRG-281W YRG-422W KC-M212- KC-M212-B KC-M212-C Max. continuous rating (N) Min. setting (% (N)) 3 (15) 3 (45) 3 (75) Resolution (% (N)) 1 (.5) 1 (1.5) 1 (2.5) Open/close stroke (mm) Max. rating (mm/sec) Speed Min. setting (% (mm/sec)) 2 (12) 2 (12) 2 (9) Resolution (% (mm/sec)) 1 (.6) 1 (.7) 1 (.45) olding speed (Max.) (%) 5 Repetitive positioning accuracy (mm) +/-.3 Guide mechanism inear guide Max. holding weight Note 1 (kg) Weight (g) oding power control : 3 to 1% (1% steps) Speed control : 2 to 1% (1% steps) cceleration control : 1 to 1% (1% steps) Multipoint position control : 1, max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger. Note 1. Design the weight of a workpiece to be held so that it is approximately 1/1 to 1/2 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.) llowable load and load moment YRG-25W YRG-281W YRG-422W llowable load N Guide llowable pitching moment Mp N m llowable yawing moment My N m llowable rolling moment Mr N m Max. weight (1 pair) g inger Max. holding position mm Max. overhang mm Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. Make the adjustment so that the finger weight, holding length () from the installation surface to the holding point, and overhang () do not exceed the values stated in the table above. Please contact your YM sales dealer for further information on combination of and. YRG-25W/281W/422W +.1 φ 37 ) Depth 2 B 4-U Effective depth V Installation surface Q 2 4-U Effective depth VB R CB (lso installable on the opposite side.) S SB Installation surface W Installation Installation surface 4-U Effective depthv X1 B surface φ ( ) Depth 2 Installation surface R Gripping power vs. gripping power setting (%) YRG-422W YRG-281W YRG-25W Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power. J Mp View of B 2 4-N Effective depth P or attachment installation M D Z N Effective depth P E G or attachment installation M ED X YRG-25W YRG-422W YRG-281W View of B B CB D E ED G J K YRG-25W to 15.6 ф YRG-281W to 22.6 ф YRG-422W to 36.3 ф B SC 5.5 K 7.5 TE 12.5 M N P Q R R S SB SC TE U V V VB W X X1 Z YRG-25W 22.5 M / M YRG-281W 27.5 M / M YRG-422W 37 M / M My J K 14 Mr rticulated Y inear conveyor CM1 single-axis TRNSERVO Single-axis IP-X inear motor single-axis PSER SCR YP-X CEN CONTROER INORMTION 587

9 rticulated Y inear conveyor CM1 single-axis TRNSERVO Single-axis IP-X inear motor single-axis PSER SCR YP-X CEN CONTROER INORMTION Screw type strait style YRG-22S/284S Basic specifications Model name YRG-22S YRG-284S Model number KC-M213- KC-M213-B olding power Max. continuous rating (N) 5 15 Min. setting (% (N)) 3 (15) 3 (45) Resolution (% (N)) 1 (.5) 1 (1.5) Open/close stroke (mm) Max. rating (mm/sec) 5 5 Speed Min. setting (% (mm/sec)) 2 (1) 2 (1) Resolution (% (mm/sec)) 1 (.5) 1 (.5) olding speed (Max.) (%) 5 5 Repetitive positioning accuracy (mm) +/-.1 +/-.1 Guide mechanism inear guide Max. holding weight Note 1 (kg) Weight (g) oding power control : 3 to 1% (1% steps) Speed control : 2 to 1% (1% steps) cceleration control : 1 to 1% (1% steps) Multipoint position control : 1, max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger. Note 1. Design the weight of a workpiece to be held so that it is approximately 1/1 to 1/2 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.) llowable load and load moment YRG-22S YRG-284S llowable load N 1 13 Guide llowable pitching moment Mp N m llowable yawing moment My N m llowable rolling moment Mr N m Max. weight (1 pair) g 4 8 inger Max. holding position mm 3 3 Max. overhang mm 2 2 Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. Make the adjustment so that the finger weight, holding length () from the installation surface to the holding point, and overhang () do not exceed the values stated in the table above. Please contact your YM sales dealer for further information on combination of and. YRG-22S/284S 4-U Effective depth V T C T BD ф37 Depth 3 B ф17 Depth 3 S S 4-U Effective depth V B Y (2) 2 C T TC ф37 Depth 3 S S K J R J K G Gripping power vs. gripping power setting (%) YRG-284S YRG-22S Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power. Note. void extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the M M root of the cable. B BD C D E ED G J K M N YRG-22S to 29.5 ф M3 YRG-284S to 51 ф M4 R (3.5) ф17 Depth 3 Connector DDK (DK-21D-12R) 2 2-N Effective depth P or attachment installation W W (12.5) Z SB Q ED Mp SB E My C TB Mr 4-M4 Effective depth 6 P Q R R S S SB T T TB TC TD U V W W Y Z YRG-22S / M YRG-284S / M

10 Screw type T style YRG-22T/284T Basic specifications Model name YRG-22T YRG-284T Model number KC-M214- KC-M214-B olding power Max. continuous rating (N) 5 15 Min. setting (% (N)) 3 (15) 3 (45) Resolution (% (N)) 1 (.5) 1 (1.5) Open/close stroke (mm) Max. rating (mm/sec) 5 5 Speed Min. setting (% (mm/sec)) 2 (1) 2 (1) Resolution (% (mm/sec)) 1 (.5) 1 (.5) olding speed (Max.) (%) 5 5 Repetitive positioning accuracy (mm) +/-.1 +/-.1 Guide mechanism inear guide Max. holding weight Note 1 (kg) Weight (g) oding power control : 3 to 1% (1% steps) Speed control : 2 to 1% (1% steps) cceleration control : 1 to 1% (1% steps) Multipoint position control : 1, max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger. Note 1. Design the weight of a workpiece to be held so that it is approximately 1/1 to 1/2 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.) llowable load and load moment YRG-22T YRG-284T llowable load N 1 13 Guide llowable pitching moment Mp N m llowable yawing moment My N m llowable rolling moment Mr N m Max. weight (1 pair) g 4 8 inger Max. holding position mm 3 3 Max. overhang mm 2 2 Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. Make the adjustment so that the finger weight, holding length () from the installation surface to the holding point, and overhang () do not exceed the values stated in the table above. Please contact your YM sales dealer for further information on combination of and. YRG-22T/284T T C 4-U Effective depth V S TC S Connector DDK (DK-21D-12R) TB C Q Z SB SB E R Gripping power vs. gripping power setting (%) YRG-284T YRG-22T Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power. 4-U Effective depth V (3.5) ED W TE (2) S G Mp My S R J J 4-U Effective depth V ф37 Depth 3 Z 2 2-N Effective depth P M or attachment installation ф17 Depth 3 B Y D Note. void extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the root of the cable. B C D E ED G J J K M N P YRG-22T to 29.5 ф M3 5 YRG-284T to 51 ф M4 7.5 Q R R S S SB T T TB TC TD TE U V W Y Z Z YRG-22T / M YRG-284T / M T T C Mr rticulated Y inear conveyor CM1 single-axis TRNSERVO Single-axis IP-X inear motor single-axis PSER SCR YP-X CEN CONTROER INORMTION 589

11 rticulated Y inear conveyor CM1 single-axis TRNSERVO Single-axis IP-X inear motor single-axis PSER SCR YP-X CEN CONTROER INORMTION Three fingers type YRG-24T Basic specifications Model name Model number olding power YRG-24T KC-M215- Max. continuous rating (N) 2.5 Min. setting (% (N)) 3 (.75) Resolution (% (N)) 1 (.25) Open/close stroke (mm) 3.5 Max. rating (mm/sec) 1 Min. setting (% (mm/sec)) 2 (2) Speed Resolution (% (mm/sec)) 1 (1) olding speed (Max.) (%) 5 Repetitive positioning accuracy (mm) +/-.3 Guide mechanism inear guide Max. holding weight Note 1 (kg).2 Weight (g) 9 oding power control : 3 to 1% (1% steps) Speed control : 2 to 1% (1% steps) cceleration control : 1 to 1% (1% steps) Multipoint position control : 1, max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger. Note 1. Design the weight of a workpiece to be held so that it is approximately 1/1 to 1/2 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.) llowable load and load moment YRG-24T llowable load N 6 inger llowable pitching moment N m.2 Max. weight (1 pair) g 1 Max. holding position mm 15 When the external forces a and b are applied to a potion the distance () apart from the finger installation surface, the load () and moment (M) are calculated from the formulas shown below. = a + W g M = b : oad [N] M : Moment [N m] : Distance of point of external force application [m] YRG-24T 22 2-ф17( +.1 ) 2x2-M3 Effective depth 3 Effective depth1.5 The same size also applies to the opposite side. 2x2-ф17( +.1 ) Effective depth1.5 The same size also applies to the opposite side /-1 Connector DDK(DK-21D-12R) a :External force [N] b :External force [N] W : Workpiece weight [Kg] g : Gravity acceleration [m/s 2 ] : Distance of holding point [m] / / M3 Effective depth Gripping power vs. gripping power setting (%) External force : a Work : W inger YRG-24T Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power. (61.4) 2-ф17( +.1 ) Effective depth1.5 2-M3 Effective depth / /-.5 ф1.5h7 3-M2 Effective depth 4 or finger installation 1 (1~)3 4h st 1.5 ф27 External force : b Distance of holding Note. void extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the root of the cable. 59

12 Three fingers type YRG-213T/282T/423T Basic specifications Model name Model number olding power YRG-213T YRG-282T YRG-423T KC-M215-B KC-M215-C KC-M215-D Max. continuous rating (N) Min. setting (% (N)) 3 (.6) 3 (3) 3 (6) Resolution (% (N)) 1 (.2) 1 (.1) 1 (.2) Open/close stroke (mm) Max. rating (mm/sec) 1 Speed Min. setting (% (mm/sec)) 2 (2) Resolution (% (mm/sec)) 1 (1) 1 (1) 1 (1) olding speed (Max.) (%) Repetitive positioning accuracy (mm) +/-.3 Guide mechanism inear guide Max. holding weight Note 1 (kg) Weight (g) oding power control : 3 to 1% (1% steps) Speed control : 2 to 1% (1% steps) cceleration control : 1 to 1% (1% steps) Multipoint position control : 1, max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger. Note 1. Design the weight of a workpiece to be held so that it is approximately 1/1 to 1/2 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.) llowable load and load moment Gripping power vs. gripping power setting (%) YRG-213T YRG-282T YRG-423T llowable load N External force : a inger llowable pitching moment N m Max. weight (1 pair) g Work : W Max. holding position mm inger When the external forces a and b are applied to a potion the distance () apart from the finger installation surface, the load () and moment (M) are calculated from the formulas shown below. = a + W g M = b : oad [N] M : Moment [N m] : Distance of point of external force application [m] YRG-213T/282T/423T B T 2x4-Q Effective depth R (lsoinstallable on the opposite side.) 4-K Effective depth J G 4-U Effective depth V ф37 Depth 2 B Effective depth BG or attachment installation NB B 12 N N BJ W W 12 BE BD BB S C P (W) BC a :External force [N] b :External force [N] W : Workpiece weight [Kg] g : Gravity acceleration [m/s 2 ] : Distance of holding point [m] ф67 Depth 2 E BK Connector DDK (DK-21D-12R) B B (5.5) YRG-213T YRG-423T YRG-282T Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power. D J B 4-K Effective depth External force : b Distance of holding Note. void extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the root of the cable. B C D E G B J K N YRG-213T M YRG-282T M YRG-423T M N NB P Q R S T U V W W B YRG-213T M M to st YRG-282T M M to st YRG-423T M M to st BB BC BD BE B BG B BJ BK B YRG-213T *** 3x1-M3 8 2 ф / YRG-282T x2-M3 6 2 ф / YRG-423T x2-M4 8 3 ф / rticulated Y inear conveyor CM1 single-axis TRNSERVO Single-axis IP-X inear motor single-axis PSER SCR YP-X CEN CONTROER INORMTION 591

13 rticulated Y gripper basic specifications inear conveyor CM1 single-axis TRNSERVO Basic specifications xis control Programming Item Specifications pplicable RCX24/RCX24S RCX34 Number of connection grippers Max. 2 units (One unit per slot, max. 2 slots) Max. 4 units Control method PTP motion Min. setting unit.1mm Position indication unit Pulses, mm (millimeters) Speed setting 2 to 1% (in 1% steps, Changeable by the program.) cceleration setting 1 to 1% (in 1% steps, Setting by the acceleration parameter) Teaching MDI (coordinate data input), direct teaching, teaching playback,offline teaching (data input from external unit) Single-axis IP-X inear motor single-axis PSER Gripper control board specifications Item Specifications No. of axes 1 axis xis control Position detection method Optical rotary encoder Min. setting distance.1mm Speed setting Set in the range of 2 to 1% to the max. parameter speed. Protective alarm Overcurrent, overload, voltage failure, system failure, position deviation over, feedback error, etc. ED status indication POWER (Green), RUN (Green), REDY (Yellow), RM (Red) Power supply Drive power DC 24V +/-1% 1. Max. Part names and functions SCR YP-X CEN CONTROER INORMTION RCX24 RCX34 XM YM ZM MOTOR ROB I/O XY BTT XY ROB I/O ZR BTT ZR PWR SRV ERR SETY RPB SE STD.DIO OP.1 OP.2 OP.3 OP.4 PWR RDY RUN M 24V V RCX24 RGEN P N igure when viewed from the front of the Status EDs our EDs show the status of the gripper control board. CT Connector to be connected to the gripper main body. POWER Board drive power input connector. GE-STOP+ GE-STOP Emergency stop input terminal. igure when viewed from the front of the PWR RDY RUN M Status EDs our EDs show the status of the gripper control board. CT Connector to be connected to the gripper main body. 24V V POWER Board drive power input connector. 592

14 ccessories and part options Standard accessories Gripper control board (for gripper) cable Model or RCX24/RCX24S KX-M44-1 or RCX34 KCX-M44-G Note. This board includes a 24V supply connector. 3.5m KC-M Model 5m KC-M m KC-M Note. Be sure to adjust the total length of the robot (for gripper) cable and relay cable to 14m or less. RCX24/S RCX34 RCX24/S RCX34 rticulated Y inear conveyor CM1 single-axis TRNSERVO Single-axis IP-X inear motor single-axis PSER Relay cable.5m KC-M m KC-M m KC-M m KC-M Model 2.5m KC-M m KC-M m KC-M m KC-M RCX24/S RCX34 SCR Connector for 24V power supply Model KC-M5382- Connector for gripper emergency stop Model KC-M537- Note. Not included with the RCX34. RCX24/S RCX34 RCX24/S YP-X CEN CONTROER INORMTION 593