Thin Gripper RCP6-GRT7. Equipped with a Battery-less Absolute Encoder.

Transcription

1 Thin Gripper RCP6-GRT7 Equipped with a Battery-less Absolute Encoder

2 Gripper First! New Equipped with Battery-less Absolute Encoder!! Flat shape, thin size with height of 39 mm achieved. Advantage Equipped with a Battery-less Absolute Encoder as Standard With orthogonal axis + gripper pick and place, all axes can be configured with battery-less absolute encoder equipped products. Home return is no longer required when restarting the equipment; you can move to the next operation while gripping the workpiece. Power Shutdown Restart It remembers the position even after Shutdown --> Restart. It retains the grip. * For push holding, the push status is not retained. Advantage Flat Shape with Height of 39 mm The height has been reduced. mm 87.5mm 60mm 55% reduction 0mm mm 39mm 0mm RCP-GRSML ( ) RCP-GRST ( 0) New RCP6-GRT7A/7B ( /0/) 3Advantage High Rigidity By adopting an integrated body frame guide with proven performance for linear axes, the gripping point distance and overhang amount have been improved greatly. Advantage High Grip Force IAI presents our highest-class grip force. (Current limit value 70%) Gothic arch groove Steel ball [Maximum overhang amount] Conventional model New RCP6-GRT7B (At current limit value %) 90mm 50mm Model GRT7A GRT7B Maximum grip force (Fingers on both sides) High speed type High speed type High grip force type N 50N 0N

3 5Advantage Improved Mounting Freedom -side mounting (including mounting on the finger operation surface), wiring exit direction and surface can be changed. Select the mounting/wiring position according to the equipment. 6Advantage Inexpensive Compared with our products with equivalent stroke, it is 39% cheaper. Mounting surface Top (Finger operation surface) Wiring exit direction Conventional model RCP-GRST(0ST) Rear About 39% reduction New Front RCP6-GRT7B(0ST) Back Model Specification Items RCP6 - - WA - 8P Series Encoder Motor Size Deceleration Ratio Pattern Applicable Cable Length Options Controllers GRT7A AC Actuator s pigtail cable: m GRT7B AC Actuator s pigtail cable: m AC3 Actuator s pigtail cable: 3m WA Battery-less Absolute 8P 8 Pulse motor Feed screw lead.5mm Pulley deceleration ratio.5 (GRT7A) Feed screw lead mm Pulley deceleration ratio.5 (GRT7B) Feed screw lead mm Pulley deceleration ratio.5 (GRT7B) P3 P5 PCON-CB/CGB PCON-CYB/PLB/POB MCON-C/CG/LC/LCG MSEL-PC/PG RCM-P6PC N None P m CJTB CJLB CJRB CJBB CJTS CJLS CJRS CJBS NM Rear cable exit from top Rear cable exit from left side Rear cable exit from right side Rear cable exit from bottom Side cable exit from top Side cable exit from left side Side cable exit from right side Side cable exit from bottom Non-motor end specification S 3m mm (5mm on one side) 0 0mm (mm on one side) mm (0mm on one side) M X R 5m Specified length Robot cable

4 RCP6 ROBO Cylinder RCP6-GRT7A -Finger Gripper Thin Slide Body Width mm V Stepper Motor Model Specification Items RCP6 Series GRT7A WA Encoder WA: Battery-less Absolute * Does not include a controller. * Please refer to P. for more information about the model specification items. 8P Motor 8P: Stepper Motor 8 Size Deceleration Ratio Pattern : Feed Screw Lead.5mm Pulley Deceleration Ratio.5 : mm Applicable Controllers P3: PCON MCON MSEL P5: RCM-P6PC Cable Length N: None P: m S: 3m M: 5m X : Specified Length Options Please refer to the option price list below. * Be sure to fill in one of the following options for the cable exit direction. Horizontal Vertical Gripping Force vs. Electric Current Limit The gripping (pushing) force can be adjusted freely within the range of electric current limits of % to 70%. Side Ceiling L P O I N T Selection Notes () The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. () The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The workpiece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the workpiece, as well as on the shape of the workpiece. As a rough guide, a workpiece 's weight should not exceed /0 to / of the gripping force. (See page 9 for details.) (3) The rated acceleration while moving is 0.3 G. Grip force (N) L * For L and L, please refer to the gripper selection method on P.9. * The gripping force in the graph below assumes that L and L the figure above are zero. (Refer to p.0 for the rough guide gripping force at each distance of L.) Also note that the gripping force is the sum of the gripping forces of both fingers * Grip force is the sum of both fingers Current limit value (Ratio %) * The gripping force graph above shows numbers for reference. Please allow margins up to ±5%. * Please note that, when gripping (pushing), the speed is fixed at 5 mm/s. Actuator Specifications Model specification items RCP6-GRT7A-WA-8P Legend: Applicable Controllers Cable Length 3 Options Deceleration ratio pattern Max grip force (N) (one side 60) (mm) (one side 5) and Max Opening/Closing Speed Deceleration ratio (mm) 75 (Unit: mm/s) (mm) RCP6-GRT7A 3 Options Name Option code Reference page Actuator's pigtail cable m specification AC P. 8 Actuator's pigtail cable m specification AC P. 8 Actuator's pigtail cable 3m specification AC3 P. 8 Rear cable exit from top CJTB P. 8 Rear cable exit from left side CJLB P. 8 Rear cable exit from right side CJRB P. 8 Rear cable exit from bottom CJBB P. 8 Side cable exit from top CJTS P. 8 Side cable exit from left side CJLS P. 8 Side cable exit from right side CJRS P. 8 Side cable exit from bottom CJBS P. 8 Non-motor end specification NM P. 8 * Be sure to select a symbol for the cable exit direction. 3 RCP6-GRT7A Cable Length Actuator Specifications Item Drive system Positioning repeatability Backlash Lost motion Allowable static moment Mass Ambient operating temperature/humidity Cable code P(m) Standard type S(3m) M(5m) X06 (6m) ~ X0 (0m) Specified length X (m) ~ X5 (5m) X6 (6m) ~ X (m)* R0 (m) ~ R03 (3m) R0 (m) ~ R05 (5m) Robot cable R06 (6m) ~ R0 (0m) R (m) ~ R5 (5m) R6 (6m) ~ R (m)* Cable between actuator and controller. * When changing the Actuator's pigtail cable length as an option, make sure the total cable length between the actuator and the controller is within m. Description Timing belt + left/right trapezoidal screw f8 ±0.0mm One side 0.mm or less One side 0.mm or less Ma: 3.6N m Mb: 3.6N m Mc: 0.N m 0.6kg 0~0 C, 85% RH or less (non-condensing)

5 Dimensions RCP6 ROBO Cylinder CAD drawings can be downloaded from our website. D CAD 3D CAD * The open side of the finger is at home position. * To prevent intrusion of foreign matter, it is plugged with a set screw. Remove when using it as a mounting surface. 0 (Option AC,, 3) Actuator's pigtail cable Allowable bending radius 50 Oblong hole depth -M depth 5 Grease port 50 -M depth 5 - φ3 H7 depth For CJ*B CJTB.5 CJLB CJRB For CJ*S CJTS M3 washerassembled screw (for FG) Screw for finger opening/closing Oblong hole depth Screw for finger opening/closing.5 φ Open side (home position):33 Closed side :3 (Maximum operation range to 3) 5 φ 3 H7 depth Finger part details Oblong hole depth -M depth.5 * φ 3 H7 depth φ H7 depth -M depth M3 washer-assembled screw (for FG) φ 3 H7 depth M5 screw hole -M depth.7 * (Plugged with screw) CJBB Oblong hole depth CJLS CJRS CJBS Applicable Controllers The RCP6 series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. Name PCON- CYB/PLB/POB External view Max. number of connectable axes PCON-CB/CGB MCON-C/CG 8 Power supply voltage VDC Control method Positioner Pulse-train Program Network * selection This model is network-compatible only. Maximum number of positioning points Network cannot be selected 6 MCON-LC/LCG 6 56 Note: The type of compatible networks will vary Single phase MSEL-PC/PG depending on the controller. Please refer ~VAC to reference page for more information. 5 (768 for network spec.) RCM-P6PC Can be used within the RCP6S Gateway system Reference page Contact IAI Refer to the RCP6 catalog (CJ038-3A) RCP6-GRT7A

6 RCP6 ROBO Cylinder RCP6-GRT7B -Finger Gripper Thin Slide Body Width mm V Stepper Motor Model Specification Items RCP6 Series GRT7B WA Encoder WA: Battery-less Absolute * Does not include a controller. * Please refer to P. for more information about the model specification items. 8P Motor 8P: Stepper Motor 8 Size Deceleration Ratio Pattern : Feed Screw Lead mm Pulley Deceleration Ratio.5 : Feed Screw Lead mm Pulley Deceleration Ratio.5 0:0mm :mm Applicable Controllers P3: PCON MCON MSEL P5: RCM-P6PC Cable Length N: None P: m S: 3m M: 5m X : Specified Length Options Please refer to the option price list below. * Be sure to fill in one of the following options for the cable exit direction. Horizontal Vertical Gripping Force vs. Electric Current Limit The gripping (pushing) force can be adjusted freely within the range of electric current limits of % to 70%. Side Ceiling L P O I N T Selection Notes () The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. () The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The workpiece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the workpiece, as well as on the shape of the workpiece. As a rough guide, a workpiece 's weight should not exceed /0 to / of the gripping force. (See page 9 for details.) (3) The rated acceleration while moving is 0.3 G. Grip force (N) L * For L and L, please refer to the gripper selection method on P.9. * The gripping force in the graph below assumes that L and L the figure above are zero. (Refer to p.0 for the rough guide gripping force at each distance of L.) Also note that the gripping force is the sum of the gripping forces of both fingers. 3 0 Deceleration ratio: Deceleration ratio: * Grip force is the sum of both fingers Current limit value (Ratio %) * The gripping force graph above shows numbers for reference. Please allow margins up to ±5%. * Please note that, when gripping (pushing), the speed is fixed at 5 mm/s. Actuator Specifications Model specification items RCP6-GRT7B-WA-8P RCP6-GRT7B-WA-8P Legend: Applicable Controllers 3 Cable Length Options Deceleration ratio pattern Max grip force (N) 50 (one side 75) 0 (one side 50) (mm) 0 (One side ), (One side 0) 0 (One side ), (One side 0) 3 Cable Length and Max Opening/Closing Speed 0~ Deceleration ratio (mm) 60 (Unit: mm/s) (mm) RCP6-GRT7B 0 Options Name Option code Reference page Actuator's pigtail cable m specification AC P. 8 Actuator's pigtail cable m specification AC P. 8 Actuator's pigtail cable 3m specification AC3 P. 8 Rear cable exit from top CJTB P. 8 Rear cable exit from left side CJLB P. 8 Rear cable exit from right side CJRB P. 8 Rear cable exit from bottom CJBB P. 8 Side cable exit from top CJTS P. 8 Side cable exit from left side CJLS P. 8 Side cable exit from right side CJRS P. 8 Side cable exit from bottom CJBS P. 8 Non-motor end specification NM P. 8 * Be sure to select a symbol for the cable exit direction. 5 RCP6-GRT7B Cable code P(m) Standard type S(3m) M(5m) X06 (6m) ~ X0 (0m) Specified length X (m) ~ X5 (5m) X6 (6m) ~ X (m)* R0 (m) ~ R03 (3m) R0 (m) ~ R05 (5m) Robot cable R06 (6m) ~ R0 (0m) R (m) ~ R5 (5m) R6 (6m) ~ R (m)* Cable between actuator and controller. * When changing the Actuator's pigtail cable length as an option, make sure the total cable length between the actuator and the controller is within m. Actuator Specifications Item Description Drive system Timing belt + left/right trapezoidal screw f0 Positioning repeatability ±0.0mm Backlash One side 0.mm or less Lost motion One side 0.mm or less Allowable static moment Ma: 7.5N m Mb: 7.5N m Mc: 5.3N m Mass 0.68kg (0 stroke), 0.8kg ( stroke) Ambient operating temperature/humidity 0~0 C, 85% RH or less (non-condensing)

7 Dimensions RCP6 ROBO Cylinder CAD drawings can be downloaded from our website. D CAD 3D CAD 0 stroke * The open side of the finger is at home position. * To prevent intrusion of foreign matter, it is plugged with a set screw. Remove when using it as a mounting surface. 0 (Option AC,, 3) Actuator's pigtail cable Allowable bending radius 50 Oblong hole depth Grease port Screw for finger opening/closing M depth.7 For CJ*B CJLB CJTB.5 CJRB For CJ*S 5 0. CJTS M3 washerassembled screw (for FG) Oblong hole depth M depth 5 -φ 3 H7 depth 5 Screw for finger opening/closing φ Open side (home position):3 Closed side :3 (Maximum operation range to ) 36 φ 3 H7 depth 38.5 Oblong hole depth M depth.5 * 0 φ 3 H7 depth 0 M3 washer-assembled screw (for FG) φ 3 H7 depth M5 screw hole -M depth.7 * (Plugged with screw) Finger part details φ H7 depth -M5 depth 7.5 CJBB Oblong hole depth CJLS CJRS CJBS Applicable Controllers The RCP6 series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. Name PCON- CYB/PLB/POB External view Max. number of connectable axes PCON-CB/CGB MCON-C/CG 8 Power supply voltage VDC Control method Positioner Pulse-train Program Network * selection This model is network-compatible only. Maximum number of positioning points Network cannot be selected 6 MCON-LC/LCG 6 56 Note: The type of compatible networks will vary Single phase MSEL-PC/PG depending on the controller. Please refer ~VAC to reference page for more information. 5 (768 for network spec.) RCM-P6PC Can be used within the RCP6S Gateway system Reference page Contact IAI Refer to the RCP6 catalog (CJ038-3A) RCP6-GRT7B 6

8 RCP6 ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD 3D CAD stroke * The open side of the finger is at home position. * To prevent intrusion of foreign matter, it is plugged with a set screw. Remove when using it as a mounting surface. 0 (Option AC,, 3) Actuator's pigtail cable Allowable bending radius Finger part details For CJ*B CJTB.5 φ H7 depth -M5 depth 7.5 CJLB CJRB For CJ*S D 0. CJTS M3 washerassembled screw (for FG) Oblong hole depth M depth 5 -φ 3 H7 depth Grease port Screw for finger opening/closing Oblong hole depth 5 Screw for finger opening/closing φ C φ3 H7 depth -M depth 5 Open side (home position):83 Closed side :3 C Maximum operation range: to Oblong hole depth M3 washer-assembled screw (for FG) φ 3 H7 depth -M depth.5 * φ 3 H7 depth -M depth.7 * M5 screw hole (Plugged with screw) Oblong hole depth CJBB CJLS CJRS CJBS Applicable Controllers The RCP6 series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. Name PCON- CYB/PLB/POB External view Max. number of connectable axes PCON-CB/CGB MCON-C/CG 8 Power supply voltage VDC Control method Positioner Pulse-train Program Network * selection This model is network-compatible only. Maximum number of positioning points Network cannot be selected 6 MCON-LC/LCG 6 56 Note: The type of compatible networks will vary Single phase MSEL-PC/PG depending on the controller. Please refer ~VAC to reference page for more information. 5 (768 for network spec.) RCM-P6PC Can be used within the RCP6S Gateway system Reference page Contact IAI Refer to the RCP6 catalog (CJ038-3A) 7 RCP6-GRT7B

9 Options Options Actuator's pigtail cable Specification Model Description AC/AC/AC3 Although the standard length of the Actuator's pigtail cable is 0mm, it can be changed to 000/00/00mm as an option. Cable exit direction Model Description CJTB/CJLB/CJRB/CJBB/CJTS/CJLS/CJRS/CJBS The mounting direction of the Actuator's pigtail cable can be changed to top, bottom, left, or right. CJ B (Back) CJ S (Side) CJTB CJTS CJLB CJRS CJRB CJLS CJBB * The movable part is on the bottom side * The movable part is on the bottom side CJBS Non-motor end specification Model Description NM The home position is set to the finger open side. If you want to set the home position on the opposite end due to the layout of your system, etc., you can do so by selecting this option. (Since your actuator has been shipped with its home position pre-adjusted at the factory, you must send the actuator back to us for adjustment to change the home direction after delivery. ) Options 8

10 Reference Data Gripper Selection Method Slide type Step Step Check the required grip force and allowable workpiece mass When gripping the workpiece with frictional grip force, calculate the required grip force as follows. () For normal transfer Check the required grip force and allowable workpiece mass F: Grip force (N)... Total value of push force of each claw μ: Static friction coefficient between the finger attachment and the workpiece m: Workpiece mass (kg) g: Gravitational acceleration (=9.8m/s ) F/ F/ Step Check the gripping point distance The conditions under which the work part remains statically gripped without dropping are as follows: mg Fμ > W F > μ Assuming a recommended safety factor of for normal transfer, the required gripping force is calculated as follows: mg F > (safety factor) μ When the friction coefficient is μ0. ~ 0. mg F > = (0~) mg 0.~0. W[mg] Friction coefficient μ For ordinary workpiece transferring Required grip force: 0~ times or more the workpiece mass Max. allowable mass: Not more than /0th to /th the gripping force * The greater the coefficient of static friction, the greater than maximum allowable work part mass be- comes. To ensure safety, however, select a model that can generate a gripping force of at least 0 to times this work part mass. Step 3 Check external force applied to fingers () When considerable acceleration, deceleration, or impact force is applied when transferring the workpiece In addition to gravity, if a stronger inertial force operates on the workpiece then select a model with an even higher safety factor. When large acceleration, deceleration, or shock is applied Required grip force: Max. allowable mass: ~50 times or more the workpiece mass /~/50 or less of the grip force Step Check the gripping point distance Use the actuator so that the distances (L, L) from the finger mounting surface to the gripping point fall in the ranges specified below. If the limits are exceeded, excessive moments may act upon the sliding part of the finger and internal mechanism, negatively affecting the service life of the actuator. RCP6-GRT7A Overhang amount L [mm] Gripping current % Gripping current 50% Gripping current 70% Gripping point L [mm] RCP6-GRT7B (Deceleration ratio: ) RCP6-GRT7B (Deceleration ratio: ) Deceleration ratio Deceleration ratio Overhang amount L [mm] Gripping current % Gripping current 50% Gripping current 70% Gripping point L [mm] Overhang amount L [mm] Gripping current % Gripping current 50% Gripping current 70% Gripping point L [mm] L L Slide top surface - Guide action point distance 9 Reference Data Even if the gripping point distance is within the limit range, keep it as small and lightweight as possible. If the fingers are long and large, or if the mass is large, inertial force and bending moment during opening and closing may worsen the performance and adversely affect the guide section.

11 Gripper Selection Method Reference Data Step 3 Check external force applied to fingers () Allowable vertical load Make sure that the vertical load applied to each finger is less than the allowable load. () Allowable load moment Calculate Ma and Mc with L, and Mb with L. Make sure the moment applied to each finger is less than the maximum allowable load moment. Ma F L Mc The allowable external force when applying moment load to each claw is Allowable load F(N) > M (Maximum allowable moment (N m) L(mm) 0-3 Mb Load point L Calculate both L and L for the allowable load F (N). Check that the external force applied to the finger is less than the calculated allowable load F (N) (the smaller value of L and L). Model RCP6-GRT7A RCP6-GRT7B Allowable vertical load F (N)(Note ) Maximum allowable load moment (N m) (Note ) Ma Mb Mc (Note ) The allowable value above indicates a static value. (Note ) Indicates the allowable value per finger. * The weight of the finger and the workpiece weight are also part of the external force. Other external forces applied to the fingers are the centrifugal force when swiveling the gripper with the workpiece gripped and the inertia force due to acceleration/deceleration during travel. * The load point above indicates the load position on the fingers. The position varies depending on the type of load. Load due to grip force: Gripping point Load due to gravity: Center mass location Inertial force during travel, centrifugal force during swivel: Center mass location The load moment is the total value calculated for each type of load. Guideline for load shape and mass. These graphs show the grip force based on the gripping point distance when the maximum grip force is taken as 00%.. The gripping point distance indicates the vertical distance from the finger attachment mounting surface to the gripping point. 3. Grip force may vary due to individual differences. Consider this as a guideline only. Grip force (%) RCP6-GRT7A RCP6-GRT7B (Deceleration ratio ) RCP6-GRT7B (Deceleration ratio ) Change in grip force due to gripping point distance Change in grip force due to gripping point distance Change in grip force due to gripping point distance Gripping point distance (mm) Grip force (%) Gripping point distance (mm) Grip force (%) Gripping point distance (mm) Reference Data 0

12 Catalog No. CE05-A (087) IAI America, Inc. Headquarters: 690 W. 37th Street, Torrance, CA (0) Chicago Office: 0 E. State Pkwy, Schaumburg, IL 6073 (0) Atlanta Office: Kennestone Circle, Suite 08, Marietta, GA 0 (888) The information contained in this product brochure may change without prior notice due to product improvements. IAI Industrieroboter GmbH Ober der Röth, D-658 Schwalbach am Taunus, Germany IAI (Shanghai) Co., Ltd. Shanghai Jiahua Business Center A8-3, 8, Hongqiao Rd., Shanghai 00, China IAI Robot (Thailand) Co., Ltd. 85 Phairojkijja Tower th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 060, Thailand