RCD-GRSN RCP2-GRSS RCP4-GRSML/GRSLL/GRSWL RCP2-GRLS RCP4-GRLM/GRLL/GRLW

Transcription

1 GB Vertical Gripper, Slider Type Vertical Gripper, Lever Type RCD-GRSN RCP2-GRSS RCP4-GRSML/GRSLL/GRSWL RCP2-GRLS RCP4-GRLM/GRLL/GRLW cyli nder.de

2 Achieving High-speed Opening/Closing Vertical Grippers The Newest Additions to IAI s Mo NEW NEW NEW NEW 1 1

3 and High Gripping Force torized Gripper Series NEW NEW NEW NEW 2

4 2-Finger Vertical Type 2-Finger 2-Finger 3-Finger Vertical Type Horizontal Type P.21 P.23 P.15 P.7 P.9 P.11 P.13 P.17 P.19 Lever Type NEW NEW NEW NEW NEW NEW NEW Lever Type 3 Slider Type Slider Type Slider Type Slider Type

5 Slider Type Type Mini Slider Type Small Slider Type Medium Slider Type Large Slider Type Extra Large Slider Type Model RCD-GRSNA RCP2-GRSS RCP4-GRSML RCP4-GRSLL RCP4-GRSWL External View Motor Position Detection Drive System Guide Opening/Closing Stroke (mm) Gripping Force (N) Opening/Closing Speed (mm/sec) Positioning Repeatability (mm) Gripping Force Adjustment Range Actuator Cable (*1) Extension Cable (*2) Exterior Dimensions of Actuator Frame (L x W x H) Actuator Mass (kg) See Page P.7 P.9 P.11 P.13 P.15 Lever Type Type Model External View Motor Position Detection Drive System Guide Range of Operation (deg) Gripping Force (N) Opening/Closing Speed (deg/sec) Positioning Repeatability (deg) Gripping Force Adjustment Range Actuator Cable (*1) Extension Cable (*2) Exterior Dimensions of Actuator Frame (L x W x H) Actuator Mass (kg) See Page P.17 P.19 P.21 P.23 4

6 (*) CE certification coming soon. (*) CE certification coming soon. (*) Mechatrolink w/o CE conformity yet. * MSEP controllers are supported by PC Software Ver or later. (*) CE certification coming soon. 5

7 Model Number <RCD Series> RCD Series Type I Encoder Motor Lead Screw Lead Stroke D3 Compatible Controllers Cable Length Mini Slider Type Incremental <RCP2 Series> RCP2 Series Type I Encoder 20P 30 Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Incremental RCP4 Series Type I Encoder Motor Deceleration Ratio Stroke P3 Compatible Controllers Cable Length Incremental 6

8 RCD-GRSNA RCD GRSNA I D3 I: Incremental 3: 2.5 W 2 : 2 mm 4 : 4 mm D3: DSEP BLDC motor (2 mm per side) DCON-CA P O I N T Notes on Selection 7

9 ø1.5 h M3, depth 6 (same on the opposite side, ø2.4 drilled through) ø14 (220) (15) *2 3 2-M2, depth (Max. operating range: 0.7 to 5.3) * Open side (home position): 5 Closed side: depth ø2 0 depth 2 (ø8.3) (ø5.1) Actuator cable Allowable bending radius: R30 *3 (16) The RCD series actuators can operate with the controllers below. Select the controller according to your usage. Name External View Model Number Description Max. Pos. Points Input Voltage Power Supply Capacity See Page Solenoid Valve Type Dustproof Solenoid Valve Type DSEP-C-3I--2-0 DSEP-CW-3I--2-0 Simple controller capable of operating actuators with the same signals used to operate solenoid valves, supporting both the single-solenoid method and the double-solenoid method. 3 points (Standard Rated: 0.7A Max: 1.5A P30 Positioner Type DCON-CA-3I--2-0 PIO control ready 512 points DC24V Pulse Train Type DCON-CA-3I-PL-2-0 Pulse-train input ready Rated: 0.7A Max: 1.5A P30 Network Type DCON-CA-3I--0-0 Field network ready 768 points * indicates I/O type (NP/PN). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol. 8

10 RCP2- GRSS RCP2 GRSS I 20P 30 8 X : P O I N T Notes on Selection 9

11 2-ø3 0 depth M3, depth 5 *2, *3 Cable joint connector * M3, depth ø3h7( ) Actuator cable allowable bending radius: R100 * depth 3 Secure at least ø3 0 depth 3 9 ø3 0 depth Max (open side) Min. 5.5 (closed side) M3, depth 5 *2, * M3, depth depth depth 3 10

12 RCP4-GRSML RCP4 GRSML I 28P P3 P O I N T Notes on Selection 11

13 12

14 RCP4-GRSLL RCP4 GRSLL I 35P P3 P O I N T Notes on Selection 13

15 * 14

16 RCP4-GRSWL RCP4 GRSWL I 42P P3 P O I N T Notes on Selection 15

17 * 16

18 RCP2- GRLS RCP2 GRLS I 20P X: P O I N T Notes on Selection Gripping force (N) Electric Current Limit (% ratio) 17

19 ø3 0 depth M3, depth 5 *2, *3 Cable joint connector * depth 3 2-ø4 0 depth M4, through Actuator cable allowable bending radius: R100 *4 Secure at least ø3 0 depth 3 9 ø3 0 depth Max. 180 (open side) Min. 0 (closed side) depth M3, depth 5 *2, *3 4-M3, depth 5 *2, * depth

20 RCP4-GRLM RCP4 GRLM I 28P P3 40 Gripping force (N) P O I N T Notes on Selection Electric Current Limit (% ratio) 19

21 4-M4, depth ø4 H7 0 depth Standard: 200 ( Option: 1000) (15) 4-M3, depth 6 *3, * (ø8.5) (16) (8) 46 Actuator cable allowable bending radius: R50 *2 Open side (home position): 180 Closed side: 0 (Maximum range of operation: -4 to 184 ) * ± (45) depth 3 View A ø3 0 depth M3, depth 6 *3, * M3, depth 6 *3, *4 ø3 0 depth 3 [Finger open side] depth 3 View A 38 [Finger closed side] ø3 0 depth depth

22 RCP4-GRLL RCP4 GRLL I 35P P3 80 Gripping force (N) P O I N T Notes on Selection Electric Current Limit (% ratio) 21

23 ( ) Standard: 200 Option: 1000 (15) 4-M4, depth 8 *3, * (ø8.5) (16) depth 3 91 ø3 0 depth 3 View A Open side (home position): 180 Closed side: 0 (Maximum range of operation: -4 to 184 ) * M4, depth 8 *3, * (12) ± ø4 H7, depth 5 4-M5, depth Actuator cable allowable bending radius: R50 * (52) 45 4-M4, depth 8 *3, *4 ø3 0 depth 3 [Finger open side] depth 3 49 View A [Finger closed side] ø3 0 depth depth

24 RCP4-GRLW RCP4 GRLW I 42P P Gripping force (N) P O I N T Notes on Selection Electric Current Limit (% ratio) 23

25 4-2-M6, depth Standard: 200 ( Option: 1000) (15) (ø8.5) 4-M5, depth 9 *3, * ø5 H depth (14) 28 Actuator cable allowable bending radius: R50 *2 (16) 4 0 depth 4 View A ø4 0 depth 4 Open side (home position): 180 Closed side: 0 (Maximum range of operation: -4 to 184 ) * ± M5, depth 10 *3, *4 (60) M5, depth 10 *3, * ø4 0 depth [Finger open side] depth 4 View A 56 [Finger closed side] depth 4 26 ø4 0 depth 4 24

26 How to Select Grippers Slider Type Step 1 Check the required gripping force and maximum allowable work part mass. Step 1 Check the required gripping force and maximum allowable work part mass. Step 2 Check the gripping point disatnce. Step 3 Check the external forces µ Normal transfer of work part Required gripping force At least 10 to 20 times the work part mass Max. allowable work part mass Not more than 1/10th to 1/20th the gripp. force Receiving large acceleration/deceleration or impact Required gripping force Max. allowable work part mass At least 30 to 50 times the work part mass Not more than 1/30th to 1/50th the gripp. force Step 2 Check the gripping point distance. 25

27 Step 3 26

28 How to Select Grippers Lever Type Step 1 Check the required gripping force and maximum allowable work part mass. Step 1 Check the required gripping force and maximum allowable work part mass. Follow the same instruction in step 1 for the slider type to calculate the required gripping Normal transfer of work part Required gripping force Max. allowable work part mass At least 10 to 20 times the work part mass Not more than 1/10th to 1/20th the gripp. force Step 2 Check the inertial moment Receiving large acceleration/deceleration or impact Required gripping force At least 30 to 50 times the work part mass Max. allowable work part mass Not more than 1/30th to 1/50th the gripp. force F/2 F/2 W (mg) of friction µ Step 2 Step 3 Check the external forces moment by dividing it into two components is given below. [1] Inertial moment J Z1 around the Z1-axis (center of gravity of A) (Section A) m1 : Mass of A (kg) a1, b1, c1 : Dimensions of A (mm) Section B a2 Z2 Z : (fulcrum) R2 R1 Z1 Z J Z1 (kg 12 [2] Inertial moment J Z2 around the Z2-axis (center of gravity of B) (Section B) m2 : Mass of B (kg) a2, b2, c2 : Dimensions of B (mm) c2 b2 b1 a1 c1 Section A J Z2 (kg 12 Z : Fulcrum [3] Total inertial moment J around the Z-axis (fulcrum) R1 : R2 : J (kg Z1 + Z2 Model Number Allowable inertial moment J (kg RCP2-GRLS RCP4-GRLM RCP4-GRLL RCP4-GRLW

29 Step 3 [1] Allowable load torque T maximum allowable load torque. The load torque is calculated from the m1 : Work part mass (kg) R1 : m2 : Finger mass (kg) R2 : g : fulcrum fulcrum * The centrifugal force that generates when the gripper is turned while gripping the work part or the inertial force that generates as the actuator e force to the wable load torque. Model Number RCP2-GRLS RCP4-GRLM RCP4-GRLL RCP4-GRLW Maximum allowable load torque T (N m) [2] Allowable thrust load F is equal to or less than the allowable load. F = W1 + W2 + (Other thrust load) = m1 g + m2 g + (Other thrust load) Model Number Maximum allowable thrust load F (N) RCP2-GRLS RCP4-GRLM RCP4-GRLL RCP4-GRLW 30 28

30 Positioner / Pulse-train / Field network Type Position controller CON series for RCP2/RCP4 Gripper List of Models RoboCylinder Position Controller PowerCon 150 <PCON-CA> External view Field network type (*) Mechatrolink w/o CE conformity yet. I/O type Positioner type Pulse-train type DeviceNet CC-Link PROFIBUS CompoNet MECHATROLINK (*) EtherCAT EtherNet/IP PROFINET I/O code NP/PN PLN/PLP DV CC PR CN ML EC EP PRT Simple absolute With absolute battery With absolute battery unit No absolute battery Positioner / Field network 8-axis Type Position controller SEP series for RCP2/RCP4 Gripper List of Models Type I/O category NP PN DV CC PR CN ML EC EP Item name PIO specification (NPN type) PIO specification (PNP type) DeviceNet specification CC-Link specification C PROFIBUS-DP specification CompoNet specification MECHATROLINK specification (*) EtherCAT specification EtherNet/IP specification PRT specification (*) Mechatrolink w/o CE conformity yet. 29 Exterior view Item description Operates via digital signals from the PLC * The picture shown is of the PIO specification. Depending on the I/O category, the PIO connector and field network joint connector changes. Operates with any of the above field network connections. A choice of method either a serial communication with PIO specification control, or transmitting traveling position, velocity and acceleration by data is available. No. of positions 3 positions per axis 256 positions per axis (There is no limit if operated directly by transferring data)

31 Positioner Standard / Dustproof Type (Model C/CW) 3-Position controller SEP series for RCD Gripper Controller Model Description DSEP Series Type 3 Motor I Encoder I/O type I/O cable length Power supply voltage C CW Standard Dustproof 3 Brushless, DC, 2.5 W I Incremental NP PN NPN PNP 0 No cable 2 2 m (standard) 0 24 V DC 3 3m 5 5m Positioner / Pulse-train / Field network Type Position controller CON series for RCD Gripper List of Models RoboCylinder Position Controller <DCON-CA> Field network type (*) Mechatrolink w/o CE conformity yet. I/O type PIO type Pulse-train type DeviceNet connection CC-Link connection PROFIBUS-DP connection CompoNet connection Mechatrolink connection EtherCAT connection EtherNet/IP connection PROFINET-IO connection I/O code Incremental specification NP/PN PLN/PLP DV CC PR CN ML EC EP PRT Controller Model Description DCON CA I 0 Series Type Motor type Encoder type I/O type I/O cable length Power supply voltage Controller mounting CA 3 Standard type 2.5W motor (brushless DC motor) NP PN PLN PLP DV CC PR CN ML EC EP PRT I Incremental No cable 2m 3m 5m is selected, the I/O cable length is 0. (Blank) DN 0 DC24V * Mechatrolink w/o CE conformity yet. 30

32 RCP2/RCP4/RCD Series Gripper Type Catalogue No E The information contained in this catalog is subject to change without notice for the purpose of product improvement IAI Industrie r oboter GmbH Ober der Röth 4 D Schwalb a ch / Frankfurt Germany T el.: Fax: info@iai-gmbh.de Inte r net: w.eu.iai-gmbh.de IAI America, Inc W. 237th Street, Torrance, CA 90505, U.S.A Phone: , Fax: IAI (Shanghai) Co., Ltd Shanghai Jiahua Business Centee A , Hongqiao Rd., Shanghai , China Phone: , Fax: IAI CORPORATION Shimizu Hirose, Shizuoka , Japan Phone: , Fax: IAI Robot (Thailand) Co., Ltd 825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand Phone: , Fax: IAI, the IAI-logo, RoboCylinder, the RoboCylinder -logo, Intel ligentactuator and the IntelligentActuator -logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA, China,Thailand or Germany