IAI America RCP2W-GRLS User Manual

Page 1

ROBO Cylinder

RCP2 Actuator Gripper Type Standard Specification

Small Two-finger Slide Type: GRSS Small Two-finger Lever Type: GRLS Medium Two-finger Type: GRS / GRM Two-finger Type with High Gripping Force:GRHM / GRHB Two-finger Long-stroke Type: GRST Three-finger Slide Type: GR3SS / GR3SM Three-finger Lever Type: GR3LS / GR3LM

RCP2CR Actuator Gripper Type Cleanroom Specification

Small Two-finger Slide Type: GRSS Small Two-finger Lever Type: GRLS

RCP2W Actuator Gripper Type Dust-proof Specification

Small Two-finger Slide Type: GRSS Small Two-finger Lever Type: GRLS

Operating Manual

Tenth Edition

Ninth Edition

IAI America, Inc.

Page 2

Page 3

Please Read Before Use

Thank you for purchasing our product.

This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product co ntains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

[Important]

This Operation Manual is original. The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI

shall assume no responsibility for the outcome of any operation not specified herein.

Information contained in this Operation Manual is subject to change without notice for the purpose of

product improvement.

If you have any question or comment regarding the content of this manual, please contact the IAI

sales office near you. Using or copying all or part of this Operation Manual without permission is prohibited. The company names, names of products and trademarks of each company shown in the sentences

are registered trademarks.

Page 4

Note

Greasing Actuators of Cleanroom Specification

For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising type for cleanroom applications.

The grease specified in the maintenance/inspection sections of the Operating Manual is for actuators of standard specification. Using the grease for the standard actuators on the cleanroom actuators may generate dust.

Recommended grease: C Grease by Kuroda

Precision Industries Ltd.

C Grease by Kuroda Precision Industries is applied to the cleanroom actuators before shipment

from IAI.

Page 5

CE Marking

If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

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Page 7

Safety Guide.................................................................................................................................. 1

Handling Precautions ....................................................................................................................

1. Names of Gripper Parts.........................................................................................................

1.1 Small Two-finger Slide Type (Standard) (RCP2-GRSS)......................................................

1.2 Small Two-finger Slide Type (Cleanroom Specification) (RCP2CR-GRSS) .......................

1.3 Small Two-finger Slide Type (Dust-proof Specification) (RCP2W-GRSS)..........................

1.4 Small Two-finger Lever type (Standard) (RCP2-GRLS) .....................................................

1.5 Small Two-finger Lever type (Cleanroom Specification) (RCP2CR-GRLS)........................

1.6 Small Two-finger Lever type (Dust-proof Specification) (RCP2W-GRLS) ..........................

1.7 Medium Two-finger Type (RCP2-GRS/GRM).....................................................................

1.8 Two-finger Type with High Gripping Force (RCP2-GRHM/GRHB).....................................

1.9 Two-finger Long-stroke Type (RCP2-GRST)......................................................................

1.10 Three-finger Slide Type (RCP2-GR3SS/GR3SM)..............................................................

1.11 Three-finger Lever Type (RCP2-GR3LS/GR3LM)..............................................................

2. Checking the Product ...........................................................................................................

2.1 Components.......................................................................................................................

2.2 Operation Manuals Relating to This Product......................................................................

2.3 How to Read Model Nameplate .........................................................................................

2.4 How to Read the Model Number........................................................................................

3. Installation Environment, Storage Environment ...................................................................

3.1 Installation Environment.....................................................................................................

3.2 Storage Environment .........................................................................................................

9 9

10 11 12 13 14 15 16 17 18 19

20 20 20 20 21

22 22 22

4. Installation Method ...............................................................................................................

4.1 Installing the Gripper..........................................................................................................

[RCP2-GRSS, RCP2W-GRSS] .............................................................................................

[RCP2CR-GRSS] ..................................................................................................................

[RCP2-GRLS, RCP2W-GRLS] ..............................................................................................

[RCP2CR-GRLS] ..................................................................................................................

[RCP2-GRS] .........................................................................................................................

[RCP2-GRM] .........................................................................................................................

[RCP2-GRHM]

[RCP2-GRHB] .......................................................................................................................

[RCP2-GRST] .......................................................................................................................

[RCP2-GR3SS] .....................................................................................................................

[RCP2-GR3SM] ....................................................................................................................

......................................................................................................................

23 23 23

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[RCP2-GR3LS] .....................................................................................................................

[RCP2-GR3LM] .....................................................................................................................

4.2 Gripper Brackets (Optional) ...............................................................................................

[RCP2-GRSS/GRLS, RCP2CR-GRSS/GRLS, RCP2W-GRSS/GRLS] .................................

[RCP2-GRS] .........................................................................................................................

[RCP2-GRM] .........................................................................................................................

[RCP2-GRHM]

[RCP2-GRHB] .......................................................................................................................

[RCP2-GR3SS/GR3LS] .........................................................................................................

[RCP2-GR3SM/GR3LM] .......................................................................................................

4.3 Installation of Finger Attachments ......................................................................................

Installation dimensions for finger attachments ....................................................................

[RCP2-GRSS] .......................................................................................................................

[RCP2CR-GRSS/RCP2W-GRSS] .........................................................................................

[RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS] ..................................................................

[RCP2-GRS] .........................................................................................................................

[RCP2-GRM] ........................................................................................................................

[RCP2-GRHM]

......................................................................................................................

36 36

40 40

[RCP2-GRHB] ......................................................................................................................

[RCP2-GRST] .......................................................................................................................

[RCP2-GR3SS] .....................................................................................................................

[RCP2-GR3SM] ....................................................................................................................

[RCP2-GR3LS]

[RCP2-GR3LM] .....................................................................................................................

Positioning in open/close and vertical directions ................................................................

[RCP2-GRSS] .......................................................................................................................

[RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS] ..................................................................

[RCP2-GRS/GRM] ................................................................................................................

[RCP2-GRHM, GRHB] ..........................................................................................................

[RCP2-GRST] .......................................................................................................................

[RCP2-GR3SS/GR3SM] .......................................................................................................

[RCP2-GR3LS/GR3LM] ........................................................................................................

.....................................................................................................................

5. Cable Connection.................................................................................................................

5.1 Connecting the Controller ..................................................................................................

5.2 Checks after Installation.....................................................................................................

54 54 56

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6. Notes on Use........................................................................................................................

6.1 Finger Operation ................................................................................................................

6.2 Removal of Gripped Work Part ..........................................................................................

6.3 Adjustment of Gripping Force ............................................................................................

6.4 Guide to Determining Maximum Work Part........................................................................

6.5 Distance between Finger Attachment and Gripping Point, and Finger Shape....................

6.6 Notes on Transferring Work Parts ......................................................................................

57 57 59 61 67 67 68

7. Cleanroom Specification (RCP2CR-GRSS, RCP2CR-GRLS) .............................................

7.1 About the Suction Amount .................................................................................................

8. Dust-proof Specification (RCP2W-GRSS, RCP2W-GRLS)..................................................

8.1 About the Dust-proof Capability .........................................................................................

9. Maintenance/Inspection .......................................................................................................

9.1 Inspection Items and Schedule..........................................................................................

9.2 Visual Inspection of the Exterior.........................................................................................

9.3 Exterior Cleaning ...............................................................................................................

9.4 Greasing the Two-finger Gripper........................................................................................

9.4.1 Guide: Excluding Cleanroom Specification.......................................................................

9.4.2 Guide: Cleanroom Specification .......................................................................................

9.5 Feed Screw Medium Two-finger Type (RCP2-GRS/GRM).................................................

9.6 Two-finger Type with High Gripping Force .........................................................................

9.7 Greasing the Two-finger Long-stroke Type (RCP2-GRST) ................................................

9.7.1 Greasing to the Feed Screw (Worm/Rack Gears) ............................................................

9.7.2 Greasing to the Guide.......................................................................................................

9.8 Greasing the Three-finger Gripper .....................................................................................

9.8.1 Slide Type .........................................................................................................................

9.8.2 Lever Type ...................................................................................................................

.....

10. Specifications .......................................................................................................................

10.1. Specification List ................................................................................................................

10.2 Cable Wiring Diagram........................................................................................................

10.2.1 Small Two-finger Slide Type (RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS), Small Two-finger Lever Type (RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS) Two-finger Long-stroke type (RCP2-GRST)

Two-finger Type with High Gripping Force (RCP2-GRHM, GRHB)..................................

10.2.2 Medium Two-finger Type (RCP2-GRS, RCP2-GRM), Three-finger Slide Type (RCP2-GR3SS, RCP2-GR3SM),

Three-finger Lever Type (RCP2-GR3LS, RCP2-GR3LM) ................................................

10.3 External Dimensions ..........................................................................................................

[RCP2-GRSS] ......................................................................................................................

69 69

70 70 71 71 71

71 75

77 80 82 82

83 86 86

88 88 90

91 92 92

Cleanroom Specification [RCP2CR-GRSS] .........................................................................

Dust-proof Specification [RCP2W-GRSS] ...........................................................................

[RCP2-GRLS] ......................................................................................................................

Cleanroom Specification [RCP2CR-GRLS]

.........................................................................

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Dust-proof Specification [RCP2W-GRLS] ............................................................................. 97

[RCP2-GRS] .........................................................................................................................

[RCP2-GRM] .........................................................................................................................

[RCP2-GRHM]

[RCP2-GRHB] .....................................................................................................................101

[RCP2-GRST] .....................................................................................................................102

[RCP2-GR3SS] ................................................................................................................... 103

[RCP2-GR3SM] .................................................................................................................. 104

[RCP2-GR3LS]

[RCP2-GR3LM] ................................................................................................................... 106

.................................................................................................................... 100

................................................................................................................... 105

11. Appendix ............................................................................................................................ 107

11.1 Notes on Use Regarding the Gripping Force ................................................................... 107

11.1.1 Slide Type .......................................................................................................................

11.1.2 Lever Type ......................................................................................................................

11.2 Notes on Transferring Work Parts.................................................................................... 114

107 111

12. Warranty ............................................................................................................................. 116

12.1 Warranty Period ...............................................................................................................

12.2 Scope of Warranty ...........................................................................................................

12.3 Honoring the Warranty .....................................................................................................

12.4 Limited Liability ................................................................................................................

12.5 Conditions of Conformance with Applicable Standards/Regulations,

Etc., and Applications

12.6 Other Items Excluded from Warranty ..............................................................................

Change History ................................................................................................................................118

...............

116 116

117 117

Page 11

Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

No.

1 Model

Operation

Description

Selection

Description

 This product has not been planned and designed for the application where

high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.

1) Medical equipment used to maintain, control or otherwise affect human life or physical health.

2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)

3) Important safety parts of machinery (Safety device, etc.)

 Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

 Do not use it in any of the following environments.

1) Location where there is any inflammable gas, inflammable object or explosive

2) Place with potential exposure to radiation

3) Location with the ambient temperature or relative humidity exceeding the specification range

4) Location where radiant heat is added from direct sunlight or other large heat source

5) Location where condensation occurs due to abrupt temperature changes

6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)

7) Location exposed to significant amount of dust, salt or iron powder

8) Location subject to direct vibration or impact

 For an actuator used in vertical orientation, select a model which is

equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

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No.

Operation

Description

2 Transportation  When carrying a heavy object, do the work with two or more persons or

utilize equipment such as crane.

 When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

 When in transportation, consider well about the positions to hold, weight

and weight balance and pay special attention to the carried object so it would not get hit or dropped.

 Transport it using an appropriate transportation measure.

The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions

in the operation manual for each model.  Do not step or sit on the package.  Do not put any heavy thing that can deform the package, on it.  When using a crane capable of 1t or more of weight, have an operator

who has qualifications for crane operation and sling work.  When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit.  Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength.  Do not get on the load that is hung on a crane.  Do not leave a load hung up with a crane.  Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

 The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of

condensation.  Store the products with a consideration not to fall them over or drop due to

an act of God such as earthquake.

4 Installation

and Start

(1) Installation of Robot Main Body and Controller, etc.  Make sure to securely hold and fix the product (including the work part). A

fall, drop or abnormal motion of the product may cause a damage or injury.

Also, be equipped for a fall-over or drop due to an act of God such as

earthquake.  Do not get on or put anything on the product. Failure to do so may cause

an accidental fall, injury or damage to the product due to a drop of

anything, malfunction of the product, performance degradation, or

shortening of its life.  When using the product in any of the places specified below, provide a

sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

4) Location where the product may come in contact with water, oil or chemical droplets

Page 13

No.

Operation

Description

4 Installation

and Start

Description

(2) Cable Wiring  Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool.

 Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not

coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.

 Perform the wiring for the product, after turning OFF the power to the unit,

so that there is no wiring error.

 When the direct current power (+24V) is connected, take the great care of

the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

 Connect the cable connector securely so that there is no disconnection or

looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.

 Never cut and/or reconnect the cables supplied with the product for the

purpose of extending or shortening the cable length. Failure to do so may

cause the product to malfunction or cause fire. (3) Grounding  The grounding operation should be performed to prevent an electric shock

or electrostatic charge, enhance the noise-resistance ability and control

the unnecessary electromagnetic radiation.  For the ground terminal on the AC power cable of the controller and the

grounding plate in the control panel, make sure to use a twisted pair cable

with wire thickness 0.5mm

(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

 Perform Class D Grounding (former Class 3 Grounding with ground

resistance 100 or below).

Page 14

No.

4 Installation

Operation

Description

and Start

Description

(4) Safety Measures  When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

 When the product is under operation or in the ready mode, take the safety

measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.

 Make sure to install the emergency stop circuit so that the unit can be

stopped immediately in an emergency during the unit operation.

 Take the safety measure not to start up the unit only with the power turning

ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product.

 Take the safety measure not to start up the machine only with the

emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

 When the installation or adjustment operation is to be performed, give

clear warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.

 Take the measure so that the work part is not dropped in power failure or

emergency stop.

 Wear protection gloves, goggle or safety shoes, as necessary, to secure

safety.

 Do not insert a finger or object in the openings in the product. Failure to do

so may cause an injury, electric shock, damage to the product or fire.

 When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

5 Teaching  When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

 Perform the teaching operation from outside the safety protection fence, if

possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

 When the operation is to be performed inside the safety protection fence,

the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

 When the operation is to be performed inside the safety protection fence,

in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

 Place a sign “Under Operation” at the position easy to see.  When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

* Safety protection Fence : In the case that there is no safety protection

fence, the movable range should be indicated.

Page 15

No.

Operation

Description

6 Trial Operation  When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

 After the teaching or programming operation, perform the check operation

one step by one step and then shift to the automatic operation.

 When the check operation is to be performed inside the safety protection

fence, perform the check operation using the previously specified work procedure like the teaching operation.

 Make sure to perform the programmed operation check at the safety

speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

 Do not touch the terminal block or any of the various setting switches in

the power ON mode. Failure to do so may result in an electric shock or malfunction.

7 Automatic

Operation

 Check before starting the automatic operation or rebooting after operation

stop that there is nobody in the safety protection fence.

 Before starting automatic operation, make sure that all peripheral

equipment is in an automatic-operation-ready state and there is no alarm indication.

 Make sure to operate automatic operation start from outside of the safety

protection fence.

 In the case that there is any abnormal heating, smoke, offensive smell, or

abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

 When a power failure occurs, turn OFF the power switch. Failure to do so

may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

Page 16

No.

8 Maintenance

Operation

Description

and Inspection

Description

 When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

 Perform the work out of the safety protection fence, if possible. In the case

that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

 When the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

 When the operation is to be performed inside the safety protection fence,

the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

 When the operation is to be performed inside the safety protection fence,

 Place a sign “Under Operation” at the position easy to see.  For the grease for the guide or ball screw, use appropriate grease

according to the Operation Manual for each model.

 Do not perform the dielectric strength test. Failure to do so may result in a

damage to the product.

 When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

 The slider or rod may get misaligned OFF the stop position if the servo is

turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.

 Pay attention not to lose the cover or untightened screws, and make sure

to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

* Safety protection Fence : In the case that there is no safety protection

fence, the movable range should be indicated.

9 Modification

and Dismantle

 Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal  When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

 When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

 Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other  Do not come close to the product or the harnesses if you are a person

who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

 See Overseas Specifications Compliance Manual to check whether

complies if necessary.

 For the handling of actuators and controllers, follow the dedicated

operation manual of each unit to ensure the safety.

Page 17

Alert Indication

The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model.

Level Degree of Danger and Damage Symbol

Danger

Warning

Caution

Notice

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

This indicates lower possibility for the injury, but should be kept to use this product properly.

Danger

Warning

Caution

Notice

Page 18

Handling Precautions

1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings.

Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. Doing so may result in vibration, failure or shorter life. In synchronized operation of combined axes, adjust the speed and acceleration/deceleration to the maximum speed and minimum acceleration/deceleration among the combined axes, respectively. In particular, note that if an acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.

2. Keep the load moment within the allowable value.

Keep the load moment within the allowable value. If a load equal to or greater than the allowable load moment is applied, the life may be shortened. In an extreme case, flaking may occur.

3. Make sure to attach the actuator properly by following this operation

manual.

Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.

Page 19

1. Names of Gripper Parts

The name of each part of the gripper is shown below.

1.1 Small Two-finger Slide Type (Standard) (RCP2-GRSS)

M cable

Finger guide

Finger

Open/close screw

Motor cover

Frame

Left

PG cable

1. Names of Gripper Parts

Finger

RearFront

Motor cover lid

Right

Page 20

1.2 Small Two-finger Slide Type (Cleanroom Specification) (RCP2CR-GRSS)

1. Names of Gripper Parts

Front

Left

Suction joint

M cable

PG cable

Motor cover

Frame

Finger

Rear

Finger

Motor cover lid

Right

Page 21

1.3 Small Two-finger Slide Type (Dust-proof Specification) (RCP2W-GRSS)

Left

M cable

PG cable

Motor cover

Frame

Finger

1. Names of Gripper Parts

Front

Rear

Finger

Motor cover lid

Right

Page 22

1.4 Small Two-finger Lever type (Standard) (RCP2-GRLS)

1. Names of Gripper Parts

Lever L

Open/close screw

Motor cover

Frame

M cable

PG cable

Left

Lever R

RearFront

Right

Page 23

1.5 Small Two-finger Lever type (Cleanroom Specification) (RCP2CR-GRLS)

1. Names of Gripper Parts

Lever L

Lever R

Front

Motor cover

Finger

Left

Right

Suction joint

M cable

PG cable

Rear

Motor cover lid

Page 24

1.6 Small Two-finger Lever type (Dust-proof Specification) (RCP2W-GRLS)

1. Names of Gripper Parts

Lever L

Left

M cable

PG cable

Motor cover

Finger

Lever R

Front

Rear

Motor cover lid

Right

Page 25

1.7 Medium Two-finger Type (RCP2-GRS/GRM)

Open/close screw

1. Names of Gripper Parts

Actuator cable

Finger L

Finger guide

Guide cover L

Front

Guide cover R

Finger R

Side cover L

Side cover R

Left

Right

Rear

Frame

Page 26

1.8 Two-finger Type with High Gripping Force (RCP2-GRHM/GRHB)

1. Names of Gripper Parts

Side cover

Finger L

Guide base

Front

Finger R

Side cover R

Open/close screw

Left

Rear

Frame

Connector

Page 27

1.9 Two-finger Long-stroke Type (RCP2-GRST)

Top cover

1. Names of Gripper Parts

Open/close screw

Left

Side cover P

Finger L

Front

Rear

Finger R

Actuator cable

Right

Side cover C

Frame

Page 28

1.10 Three-finger Slide Type (RCP2-GR3SS/GR3SM)

1. Names of Gripper Parts

Finger A

Finger B

Guide base

Left

Right

Actuator cable

Rear cover

Top

Front

Finger C

Close direction Open direction

Main cover

Open/close screw

Bottom

Frame

Rear

Motor cover

Page 29

1.11 Three-finger Lever Type (RCP2-GR3LS/GR3LM)

Left

1. Names of Gripper Parts

Front cover

Finger A

Finger B

Front

Finger C

Close direction Open direction

Main cover

Open/close screw

Right

Top

Bottom

Frame

Actuator cable

Rear cover

Rear

Motor cover

Page 30

2. Checking the Product

If based on a standard configuration, this product consists of the items listed below.

Caution: Check the packed items against the packing specification. Should you find a wrong model

2.1 Components

2. Checking the Product

1 Actuator

Accessories

2 Quick Step Guide

3 Operation Manual (CD/DVD)

4 Safety Guide

2.2 Operation Manuals Relating to This Product

1 PSEL Controller Operation Manual MJ0172 2 PCON-C/CG/CFPSEL Controlle 0710JM launaM noitarepO r 3 PCON-CY Controller Operation Manual MJ0156 4 PCON-SE Controller Operation Manual MJ0163 5 PCON-CY Controller Operation Manual MJ0164 6 ASEP/PSEP Controller Operation Manual MJ0216 7 PC Software IA-101-X-MW/IA-101 4510JM launaM noitarepO WMBSU-X8 PC Software RCM-101MW/RCM-101-USB Operation Manual MJ0155

9 Teaching Pendant SEL-T/TD Operation Manual MJ0183 10 Teaching Pendant CON-T/TG Operation Manual MJ0178 11 Touch Panel Teaching Pendant CONPT-PD/PG Operation Manual MJ0227 12 Touch Panel Teaching Pendant SEP-PT Operation Ma 7120JM laun 13 Simple Teaching Pendant RCM-E RCM-PT Operation Manual MJ0174 14 Data Setter RCM-P Operation Manual MJ0175 15 Touch Panel Display RCM-PM-01 Operation Manual MJ0182

or any missing item, please contact your IAI dealer or IAI.

skrameR ledoM emaN .oN

Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.”

ledoM metI .oN

2.3 How to Read Model Nameplate

Serial number

Model

Page 31

2.4 How to Read the Model Number

<Series> Standard specification RCP2 Cleanroom specification RCP2CR Dust-proof specification RCP2W

<Type> Small Two-finger Slide Type: GRSS Small Two-finger Lever Type: GRLS Medium Two-finger Type: GRS / GRM Two-finger Type with High Gripping Force: GRHM / GRHB Two-finger Long-stroke Type: GRST Three-finger Slide Type: GR3SS / GR3SM Three-finger Lever Type: GR3LS / GR3LM

<Encoder type> I: Incremental

2. Checking the Product

<Options> SB: Shaft bracket FB: Flange bracket NM: Reversed-home specification CJT: Optional cable exit direction (top) CJR: Optional cable exit direction (right) CJL: Optional cable exit direction (left) CJB: Optional cable exit direction

(bottom) A0: Cable exit from bottom A1 Cable exit from side

N: None P: 1 m S: 3 m M: 5 m X: Length specification N: Robot cable

<Motor type> 20P: 20 28P: 28 35P: 35 42P: 42

1:1/1 30:1/30

P1: PSEL PCOM-C/CG

PCON-CY PCON-SE PCON-PL/PO

Page 32

3. Installation Environment, Storage Environment

3.1 Installation Environment

Install the gripper in an environment meeting the conditions listed below.

 Not be exposed to direct sunlight.  Be free from irradiating heat coming from a heat treatment furnace or other equipment that generates a

large amount of heat.

 Have surrounding air temperature of 0 to 40°C.  Have humidity of 85% or below (non-condensing).  Be free from corrosive or flammable gases.  Be free from excessive dust and suitable for normal assembly work.(Excludes dust-proof specification

RCP2W-GRSS and RCP2W-GRLS.)

 Be free from oil mist or cutting oil.  Be free from impact or vibration.  Be free from strong electromagnetic waves, ultraviolet light or radiation.  Be free from chemicals that may affect the gripper. Chemical resistance is not considered in the design

of this product. In general, the gripper should be used in an environment where the operators can work without wearing any protective equipment or gear.

3.2 Storage Environment

The storage environment should basically conform to the installation environment. If the gripper is to be

3. Installation Environment, Storage Environment

stored for an extended period of time, provide appropriate measures to prevent dew condensation. The gripper is not packed with drying agent, unless otherwise specified by the user. If the gripper is to be stored in an environment where dew condensation may occur, take appropriate measures to protect the entire package, or the gripper itself (after unpacking it), from the detrimental effects of dew condensation. The gripper can withstand a surrounding air temperature of up to 60C for a short period. If the gripper must be stored for over a month, keep the surrounding air temperature at 50C or below.

Page 33

4. Installation Method

4.1 Installing the Gripper

The surface on which the gripper is installed must be machined or otherwise have a flat surface of equivalent precision.

 The effective thread depths of holes will vary depending on the gripper model and installation surface.

Determine the lengths of screws to be used by referring to the figure below.

(Never use long screws exceeding the effective thread depth. They may damage the mechanical or

electrical parts inside the gripper.)  Round and elongated holes are provided in each mounting surface for receiving positioning pins. Use

these holes as necessary.

[RCP2-GRSS, RCP2W-GRSS]

The actuator can be mounted and affixed on five surfaces.

3

(Same on opposite side)

depth 3

depth 5

(Same on opposite side)

depth 3

4. Installation Method

2-3

(Same on opposite side)

depth 5

(Same on opposite side)

depth 3

(Same on opposite side)

depth 3

3

(Same on opposite side)

depth 3

depth 5

depth 3

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 34

[RCP2CR-GRSS]

The cleanroom specification structurally allows installation on four surfaces. Installation is not possible on the top surface due to the suction joint.

4. Installation Method

(Same on opposite side)

2-3

(Same on opposite side)

depth 5

(Same on opposite side)

depth 3

(Same on opposite side)

3

depth 3

3

depth 3

depth 5

depth 3

Page 35

[RCP2-GRLS, RCP2W-GRLS]

The actuator can be mounted and affixed on five surfaces.

3

(Same on opposite side)

depth 3

depth 5

depth 3

2-3

(Same on opposite side)

depth 3

3

4. Installation Method

depth 3

(Same on opposite side)

depth 5

(Same on opposite side)

depth 5

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 36

[RCP2CR-GRLS]

The cleanroom specification structurally allows installation on four surfaces. Installation is not possible on the top surface due to the suction joint.

4. Installation Method

2-3

(Same on opposite side)

depth 3

3

depth 3

depth 2.5

(Same on opposite side)

2-3

(Same on opposite side)

depth 3

depth 5

depth 3

depth 5

Page 37

[RCP2-GRS]

Installation surface

(Same on back side)

2-3

(Same on back side)

depth 2.5

depth 7

surface

Installation

3

depth 2.5

4. Installation Method

depth 6

depth 2.5

(Same on back side)

depth 2.5

Rear

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 38

[RCP2-GRM]

Installation surface

surface

Installation

4. Installation Method

2-3

(Same on back side)

depth 7

(Same on back side)

depth 2.5

(Same on back side)

depth 2.5

3

depth 6

depth 2.5

Rear

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 39

[RCP2-GRHM]

Installation surface

4. Installation Method

Installation surface

(same on the opposite side)

depth 5

2-M5, depth 10 (same on the opposite side)

long hole depth 5

4-M5, depth 8

long hole depth 5

depth 5

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 40

[RCP2-GRHB]

Installation surface

4. Installation Method

depth 6 (same on the opposite side)

2-M6, depth 12 (same on the opposite side)

4-M6, depth 10

long hole depth 6

depth 6

long hole depth 6

(same on the opposite side)

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 41

[RCP2-GRST]

The actuator is structured in such a way that it can be secured on one of its three sides.

Stroke

4. Installation Method

surface

Installation

surface

Installation

3

depth 6

depth 3

depth 5

depth 3

(Same on back side)

depth 3

(Same on back side)

3

(Same on back side)

Rear

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 42

[RCP2-GR3SS]



4. Installation Method

4-4.5

(Use holes in the flange)

Installation surface

Detail view of A (2:1)

depth 8

depth 3

(Effective depth 6)

Blank plug (Set screw M4 x 5)

surface

Installation

2-3

(Same on back side)

surface

Installation

59

Installation surface

(Same on back side)

Rear

(Note) If the gripper is installed

from the rear side, remove the blank plugs from the tapped holes.

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 43

[RCP2-GR3SM]



4. Installation Method

4-5.5

(Use holes in the flange)

2-3

surface

Installation

Installation surface

depth 3

(Same on back side)

depth 12

(Same on back side)

depth 㸱

(Same on back side)

(Effective depth 7)

Blank plug (Set screw M5 x 6)

Installation surface

Detail view of A (2:1)

Rear

(Note) If the gripper is installed

from the rear side, remove the blank plugs from the tapped holes.

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 44

[RCP2-GR3LS]



Detail view of A (2:1)

4. Installation Method

4-4.5

(Use holes in the flange)

Installation surface

Installation

surface

2-3

(Same on back side)

depth 8

(Same on back side)

depth 3

(Same on back side)

depth 3

(Effective depth 6)

Blank plug (Set screw M4 x 5)

Installation surface

Rear

(Note) If the gripper is installed

from the rear side, remove the blank plugs from the tapped holes.

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 45

[RCP2-GR3LM]



4. Installation Method

4-5.5

(Use holes in the flange)

surface

Installation

Installation surface



Installation surface

2-3

(Same on back side)

depth 3

(Same on back side)

depth 12

depth 3

(Effective depth 7)

Blank plug (Set screw M5 x 6)

Installation surface

Detail view of A (2:1)

Rear

(Note) If the gripper is installed

from the rear side, remove the blank plugs from the tapped holes.

Warning Caution

 Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long

screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

Page 46

4.2 Gripper Brackets (Optional)

Optional brackets that can be installed on the rear face of the gripper are available. The external dimensions of each optional bracket are shown below.

[RCP2-GRSS/GRLS, RCP2CR-GRSS/GRLS, RCP2W-GRSS/GRLS]

4. Installation Method

Shaft bracket

* If a flange bracket is used, it is recommended that a

relief space be provided at the shaft end structure of the mating part as shown in the figure on the right.

Flange bracket

Relief

10

Shaft end structure

Page 47

[RCP2-GRS]

[RCP2-GRM]



Shaft bracket Flange bracket



4. Installation Method



Shaft bracket Flange bracket

Page 48

[RCP2-GRHM]

4. Installation Method

[RCP2-GRHB]

Shaft bracket Flange bracket

Page 49

[RCP2-GR3SS/GR3LS]

depth 25

Shaft bracket Flange bracket

[RCP2-GR3SM/GR3LM]



depth 25

4. Installation Method



Shaft bracket Flange bracket



Page 50

4.3 Installation of Finger Attachments

The finger attachments are provided by the customer.

 Installation dimensions for finger attachments

[RCP2-GRSS]

4. Installation Method

[RCP2CR-GRSS/RCP2W-GRSS]

depth 4



(Same on opposite side)



depth 3

depth 5



depth 5

depth 3

Page 51

[RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS]

depth 2.5

4-M4, through

4. Installation Method

Page 52

[RCP2-GRS]

4. Installation Method

depth 8

[RCP2-GRM]

depth 8

Page 53

[RCP2-GRHM]

4-M4, depth 6

Do not use the screw holes at the center of the finger.

[RCP2-GRHB]

depth 5

33.5

Home

33.5 6.56.5 33.5

4. Installation Method

Home

4-M4, depth 6

depth 5

42.5

39.5

Do not use the screw holes at the center of the finger.

Home

39.539.5

Home

Page 54

[RCP2-GRST]

depth 5

4. Installation Method



depth 3

Page 55

[RCP2-GR3SS]

depth 5

4. Installation Method



[RCP2-GR3SM]

depth 6



Page 56

[RCP2-GR3LS]



4. Installation Method

[RCP2-GR3LM]



Page 57

 Positioning in open/close and vertical directions

To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. It is also recommended that a clearance of 3 mm or more be provided between the attachments so that the gripped work part can be removed by turning the opening/closing screw in the event of power outage.

[RCP2-GRSS]

Positioning pin

Positioning in open/close directions

directions

Open/close

Finger attachment

Affixing bolt M3

Shoulder contact surface

Positioning in vertical directions

Vertical

directions

Finger

4. Installation Method

Page 58

[RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS]

4. Installation Method

Shoulder contact surface

Positioning in open/close direction

Lever attachment

directions

Open/close

Positioning pin

Positioning in vertical direction

Vertical

directions

ffixing bolt M4

Lever

Warning Caution

 When installing or removing an attachment to/from a finger, tighten the mounting bolts while securely

holding the attachment with a spanner wrench, etc., to prevent the guide from receiving any load or impact.

Page 59

[RCP2-GRS/GRM]

Positioning pin

Positioning in open/close directions

directions

Open/close

Finger attachment

Affixing bolt

Shoulder contact surface

Positioning in vertical directions

Vertical

directions

4. Installation Method

Finger

Warning Caution

 When installing or removing the attachment to/from the finger, tighten the screw while holding the

attachment with a spanner wrench, etc., so that the guide will not receive any load or impact.

 The tapping holes are through holes. Never use long screws exceeding the effective thread length.

The screws may contact the internal structure, resulting in gripper malfunction or damage to the internal structure.

Page 60

[RCP2-GRHM, GRHB]

Positioning pin

4. Installation Method

Warning Caution

 When installing or removing the attachment to/from the finger, tighten the screw while holding the

attachment with a spanner wrench, etc., so that the guide will not receive any load or impact.

 The tapping holes are through holes. Never use long screws exceeding the effective thread length.

The screws may contact the internal structure, resulting in gripper malfunction or damage to the internal structure.

Finger attachment

Affixing bolt

Positioning pin

Page 61

[RCP2-GRST]

Shoulder contact surface

Positioning in vertical directions

Finger

Vertical directions

Finger attachment

Positioning pin

Positioning in open/ close directions

Affixing bolt

Open/close directions

4. Installation Method

Warning Caution

 When installing or removing the attachment to/from the finger, tighten the screw while holding the

attachment with a spanner wrench, etc., so that the guide will not receive any load or impact.

 The tapping holes are through holes. Never use long screws exceeding the effective thread length.

The screws may contact the internal structure, resulting in gripper malfunction or damage to the internal structure.

Page 62

[RCP2-GR3SS/GR3SM]

Vertical

directions

Shoulder contact surface

Positioning in vertical directions

4. Installation Method

Warning Caution

 When installing or removing the attachment to/from the finger, tighten the screw while holding the

attachment with a spanner wrench, etc., so that the guide will not receive any load or impact.

Affixing bolt

Finger attachment

Shoulder contact surface

Positioning in open/close directions

directions

Open/close

Positioning pin

Finger

Page 63

[RCP2-GR3LS/GR3LM]

Vertical

directions

During home return, the fingers bounce outward by 1 degree after reaching the home position, and then return to the home position.

4. Installation Method

Positioning in vertical direct ions

Positioning pin

Positioning in longitudinal directions

Finger attachment

directions

Open/close

Shoulder contact surface

Longitudinal directions

Finger

Shoulder contact surface

Positioning in vertical direct ions

Stopper contact surface Positioning in longitudinal directions

Home return direction

(Offset)

(Pay attention not to allow the finger attachments and tightening bolts to contact the front cover.)

Warning Caution

 When installing or removing the attachment to/from the finger, tighten the screw while holding the

attachment with a spanner wrench, etc., so that the guide will not receive any load or impact.

Page 64

5. Cable Connection

5.1 Connecting the Controller

Plug the connector attached at the end of the gripper cable into the controller. For connection of I/O cable, controller power cable, and PC connection cable, refer to operation manuals for controller and PC software. When an application system is constructed using actuator and controller, if cable installation and connection are not done correctly, unexpected troubles such as disconnection or loose connection of cables may occur. The following actions regarding cable handling should not be allowed.

 Do not cut cables to extend, shorten, or reconnect them.  If cables cannot be secured, reduce cable load by either keeping it within the range where the cable

sag under its own weight or by using a large radius wiring such as stand-alone cable hoses. Make sure bending does not concentrate on a single area.

 Do not let the cable flex at a single point.

5. Cable Connection

Steel band (piano wire)

Bundle loosely.

 Do not let the cable bend, kink or twist.

 Do not pull the cable with a strong force.

 Do not let the cable receive a turning force at a single point.

Page 65

 Do not pinch, drop a heavy object onto or cut the cable.

 When fixing the cable, provide a moderate slack and do not tension it too tight.

Do not use a spiral tube where the cable flexes frequently.

 Please note the following points when using the cable track.

The cable supplied with the gripper is not a robot cable. Never store this cable in a cable track.

5. Cable Connection

Always use a robot cable for the extension cable.

Bending radius r

Use a cable track with a bending radius r of 50 mm or larger.

 Do not let the cable get tangled or kinked in a cable track or flexible tube. When bundling the cable,

keep a certain degree of flexibility (so that the cable will not become too taut when bent).

Page 66

 Do not cause the cables to occupy more than 60% of the space in the cable track.

Cable track

Cable

 Do not lay signal lines together with circuit lines that create a strong electric field.

5. Cable Connection

 Securely connect the cable to the GRHM/GRHB connector by making sure the cable does not

receive any undue load.

5.2 Checks after Installation

Once the gripper is installed, check the following items.

 Visually examine the gripper, controller and cables for scratches, dents and other abnormalities.

 Confirm that the cables are connected correctly and the connectors are attached securely.

Warning

 When connecting or disconnecting a cable, always turn off the controller power first.

Connecting/disconnecting a cable while the controller is receiving power may cause the gripper to malfunction, resulting in a serious accident.

 Dangerous conditions may result due to gripper malfunction, if the connector plugs are not properly

inserted into the sockets. Confirm that the connector plugs and sockets are properly connected.

Power line

Duct

Signal lines (flat cable)

Page 67

6. Notes on Use

6.1 Finger Operation

 Finger stroke

The design stroke of the two-finger type is a sum of travel distances of both fingers. In other words, the travel distance of one finger is one-half the design stroke.

 Home return direction

The moving end on the opening side of the finger (closer to the side cover) defines the home position.

Caution

Finger of GRSS becomes wider than the motor cover width (M) upon home return, so watch out for interference with gripper bracket, etc.

Motor cove

Finger

Finger guide

Gripper bracket

6. Notes on Use

 Position specification

The position indicates the travel distance of each finger from its home position toward the closing side. (Two-finger type: Maximum specifiable position = Stroke / 2)

 Speed/acceleration commands

Speed/acceleration commands are specified based on a value per finger. The relative speed/acceleration of the two-finger type is twice the command value.

Page 68

[Two-finger Type]

Finger

6. Notes on Use

[Two-finger Long-stroke Type]

direction

Home return

Finger

RCP2-GRSS,

RCP2CR-GRSS,

RCP2W-GRSS

Travel distance per side L1/

Distance between fingers L2/

Travel distance per side L1 7 mm 5 mm

Distance between fingers L2

Travel distance

per finger L1

Travel distance per side L1 16 mm 20 mm

Distance between fingers L2

Travel distance per side L1 20, 30, 40, 50

Distance between fingers L2 MAX 106/MIN 6

Stroke 8 mm

Angle

RCP2-GRM RCP2-GRS

Stroke 14 mm 10 mm

RCP2-GRHM RCP2-GRHB

Stroke 32 mm 40 mm

RCP2-GRST

Stroke 40, 60, 80, 100

4 mm

Max. 13.5 mm/

Min. 5.5 mm

Max. 15 mm/

Min. 1 mm

Max. 33 mm/

Min. 1 mm

RCP2-GRLS,

RCP2CR-GRLS,

RCP2W-GRLS

180

90

Max. 180/

Min. 0

Max. 10 mm/

Min. 1 mm

Max. 41 mm/

Min. 1 mm

direction

Home return

[Three-finger Type]

Travel distance

per finger L1

Finger

RCP2-GR3SM RCP2-GR3SS

Stroke 7 mm 5 mm Distance from center to finger end face L1

Distance from

center to finger

4 mm to 11 mm 4 mm to 9 mm

Page 69

6.2 Removal of Gripped Work Part

This gripper is structured in such a way that the work part-gripping force will be maintained by means of self-lock even after the controller power is cut off. If the gripped work part must be removed while the controller power is cut off, turn the opening/closing screw or remove the finger attachment on one side to release the work part.

[Small Two-finger Slide Type (RCP2-GRSS)]

[Small Two-finger Lever Type (RCP2-GRLS)]

Turn the opening/closing screw clockwise

Open/close screw Turn clockwise using a 2.5-mm Allen wrench.

Finger attachment

or remove the finger attachment on one side.

ffixing bolt M3

[Medium Two-finger Type (RCP2-GRM/GRS)]

[Two-finger Type with High Gripping Force (RCP2-GRHM/GRHB)]

Turn the opening/closing screw or remove the finger attachment on one side.

Finger attachment

Open/close screw

Turn the screw counterclockwise using a screwdriver.

6. Notes on Use

Open

Open directions

Affixing bolt

Page 70

[Three-finger Type (RCP2-GR3SS/GR3SM, RCP2-GR3LS/GR3LM)]

Remove one finger attachment.

[Two-finger Long-stroke Type (RCP2-GRST)]

6. Notes on Use

Finger attachment

Open/close screw

Turn the screw counterclockwise using a screwdriver.

Affixing bolt

Open directions

Finger attachment

Affixing bolt

Caution Note

 If the gripped work part must be removed while the controller power is cut off, turn the

opening/closing screw or remove the finger attachment on one side to release the work part. Forcibly pulling the work part out of the fingers may damage the machine.

 Remove the gripped work part if the machine will not be operated for a prolonged period. If the

gripper remains stationary for a prolonged period with a work part gripped, the gripper performance may drop or its guide function may be negatively affected.

Page 71

6.3 Adjustment of Gripping Force

The gripping force is freely adjustable via push-motion setting within a range of 20 to 70% of the currentlimiting value of the controller.

* The gripping force shown in the graphs below indicates a sum of gripping forces of both fingers.

Small two-finger slide type Small two-finger lever type

(RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS) (RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS)

6. Notes on Use

Gripping force (N)

Current-limiting value (%) Current-limiting value (%)

Gripping force (N)

* The gripping force of the GRLS is measured on the

top face of the lever. The actual gripping force drops in inverse proportion to the distance from the opening/closing fulcrum. Calculate the effective gripping force using the formula below.

Effective gripping force (GRLS ) = F x 15.5/ (L + 15.5)

Page 72

[Medium Two-finger Type (RCP2-GRS/GRM)]

6. Notes on Use

Gripping point

Gripping force (N)

Current-limiting value (%) Current-limiting value (%)

Gripping force (N)

Page 73

[Two-finger Type with High Gripping Force (RCP2-GRHM, GRHB)]

Gripping point

6. Notes on Use

Gripping force (N)

Current-limiting value (%) Current-limiting value (%)

Gripping force (N)

Caution Note

 IAI does not guarantee the precision of relationship between push force (gripping force) and current-

limiting value. The above values are provided only for reference.

 If the push force is too small, the push force itself may fluctuate or the gripper may malfunction due

to slide resistance, etc. The current-limiting value should not be below 20%.

 Minimize the size and weight of the fingers. Long, large and/or heavy fingers may reduce the

gripper performance or negatively affect the guide function.

Page 74

[Two-finger Long-stroke Type (RCP2-GRST)]

* The gripping force shown in the graphs below indicates a sum of gripping forces of both fingers.

6. Notes on Use

Standard type

Gripping force (N)

Current-limiting value (%) Current-limiting value (%)

Gripping force (N)

High-speed type

Page 75

[Three-finger Slide Type (RCP2-GR3SS/GR3SM)]

Gripping point

6. Notes on Use

Gripping force (N)

Current-limiting value (%) Current-limiting value (%)

Gripping force (N)

Page 76

[Three-finger Lever Type (RCP2-GR3LS/GR3LM)]

6. Notes on Use

Gripping point

F = Gripping force (N)

Current-limiting value (%) Current-limiting value (%)

F = Gripping force (N)

* The above values are calculated at a gripping point of 10 mm. The actual gripping force decreases in

inverse proportion to the distance from the open/close fulcrum. Calculate the actual gripping force using the formula below:

Effective gripping force

Page 77

6.4 Guide to Determining Maximum Work Part

The maximum work part mass that can be transferred by the gripper will vary depending on the coefficient of friction determined by the finger material and work part material, and also depending on the shape of the work part. Normally, the work part should weigh between 1/10th to 1/20th the gripping force. If the work part is subject to significant acceleration/deceleration or impact during transfer, an additional safety factor should be considered (such as setting its weight between 1/30th to 1/50th the gripping force).

6.5 Distance between Finger Attachment and Gripping Point, and Finger Shape

The distance (L) between the finger installation surface and the gripping point should not exceed the dimensions specified below.

RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS, RCP2-GRLS  40 mm max. RCP2-GRS/ GR3SS, RCP2-GR3LS  50 mm max. RCP2-GRM/GR3SM, RCP2-GR3LM  80 mm max. RCP2-GRST  60 mm max. RCP2-GRHM, RCP2-GRHB  90 mm max.

Minimize the size and weight of the fingers attached to the gripper. The finger’s size and shape must assure that the load applied to the guide due to gripping force does not exceed allowable load moment (Ma, Mb, Mc). Long, large and/or heavy fingers may reduce the gripper performance or negatively affect the guide function due to the inertial force and flexural moment generated when the fingers open and close.

Caution Note

 IAI does not guarantee the precision of relationship between push force (gripping force) and current-

limiting value. The above values are provided only for reference.

 If the push force is too small, the push force itself may fluctuate or the gripper may malfunction due

to slide resistance, etc. The current-limiting value should not be below 20%.

 Minimize the size and weight of the fingers. Long, large and/or heavy fingers may reduce the

gripper performance or negatively affect the guide function.

6. Notes on Use

Page 78

6.6 Notes on Transferring Work Parts

When the gripper is used to transfer work parts, allowing a strong force or impact to apply to the fingers, beside the gripping force, may cause the fingers to displace, become loose or sustain damage. To prevent these unwanted consequences, pay due attention to the following points:  Provide a horizontal play (compliance) with respect to the gripped work part. (Do not allow one finger to receive concentrated load when a work part is gripped.)

 Do not cause the gripper to press-fit a gripped work part into a hole or pull out a press-fit work part.  When the gripper is used to move or reverse work parts, do not cause the gripper to press the work

part against a jig, etc., at the moving end.

 When the gripper is used to insert work parts into holes, provide a sufficient clearance by considering

the expected position offset. (Prevent interference when the work part is inserted.)

 Do not turn the opening/closing screw counterclockwise while the work part is gripped, since this may

damage the work part or the lever.

6. Notes on Use

Warning Caution

Page 79

7. Cleanroom Specification (RCP2CR-GRSS, RCP2CR-GRLS)

7.1 About the Suction Amount

To use as cleanliness class 10, inside of the body must be vacuumed. Connect an air piping on the 4mm-suction joint (provided at the customer side) to vacuum and perform vacuuming for the amount shown below with a device such as a vacuum pump, a blower, or an ejector.

Recommend vacuum amount

10 NI/min

8. Dust-proof Specification (RCP2W-GRSS, RCP2W-GRLS)

8.1 About the Dust-proof Capability

Protective structure is IP50. IP50: A structure where dust that can affect performance will not penetrate inside.

7.Cleanroom Specification (RCP CR-GRSS, RCP CR-GRLS)

Page 80

9. Maintenance/Inspection

Daily and periodic inspections are essential to making sure your gripper will operate safely and efficiently. Before carrying out each inspection, check the applicable maintenance/inspection items listed below.

9.1 Inspection Items and Schedule

Conduct visual inspection and add grease at the applicable schedule specified below.

The following schedule is based on eight hours of operation daily. If the gripper is operated at a higher utilization rate, including when it is operated continuously day and night, shorten the inspection intervals as necessary.

Visual inspection Grease supply

At startup inspection

1 month after start of operation

6 months after start of operation

1 year after start of operation Every 6 months thereafter Every year thereafter

* Any adjustments requiring the following operations must be carried out at our factory. Do not

disassemble the gripper or cut any of its cables in the location where the gripper is installed.





  

 Disassemble the motor  Disassembly of guide  Disassembly of finger feed mechanism  Disassemble the bearing  Cut a cable

9. Maintenance/Inspection

If the user has disassembled any of the above components or cut any of the gripper’s cables, IAI will not be responsible for any malfunction or problem that may occur thereafter.

Warning

 Performing inspection or maintenance work part without a thorough understanding of the specific

tasks involved may result in a serious accident.

 If inspection is not carried out regularly, the drive part may reach its life prematurely.

Page 81

9.2 Visual Inspection of the Exterior

In the visual inspection of the exterior, check the following items.

Gripper Loosening of gripper mounting bolts, etc.

Cables Scratches, proper connection of connectors Overall Noise, vibration

9.3 Exterior Cleaning

 Clean the exterior of the gripper as necessary.

 Use a soft cloth, etc., to wipe off dirt.  Do not blow compressed air onto the gripper too strongly, in order to prevent dust from entering the

gripper through small openings and gaps.

 Do not use petroleum solvent as it may damage the resin parts and coated surfaces.  To clean stubborn soiling, moisten a soft cloth, etc., with neutral detergent and wipe gently.

9.4 Greasing the Two-finger Gripper

9.4.1 Guide: Excluding Cleanroom Specification

(1) Applicable grease

The following grease is applied to the guide before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2

Use lithium spray grease during maintenance. Take note that grease should not be sprayed for more than 1 second.

9. Maintenance/Inspection

Page 82

(2) How to apply grease

[Small Two-finger Slide Type (RCP2-GRSS, RCP2W-GRSS)]

[Small Two-finger Lever Type (RCP2-GRLS, RCP2W-GRLS)]

Dust-proof specification small two-finger slide type (RCP2W-GRSS)

9. Maintenance/Inspection

Cover

Finger

Finger guide

Open/close screw

Grease application

[1] In the case of dust-proof specification small

two-finger slide type (RCP2W-GRSS), remove the rubber cover. Rubber covers have “notches” on them. Detach the notches when removing the rubber cover.

[2] Using a 2.5-mm Allen wrench, turn the

opening/closing screw at the center of the fingers to move the fingers toward the stroke center.

[3] Using a grease spray gun, apply grease (on

steel balls) between the fingers and finger guides. (Spray grease in four locations for less than 1 second each.) After spraying, turn the opening/closing screw to move the fingers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

Cover

[4] Attach the rubber cover in the case of dust-

proof specification small two-finger slide type (RCP2W-GRSS).

Dust-proof specification small two-finger slide type (RCP2W-GRSS)

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

Page 83

[Medium Two-finger Type (RCP2-GRS/GRM)]

Open/close screw

Finger

Finger guide

Grease application

[1] Use a flathead screwdriver to turn the

opening/closing screw on side cover L to move the fingers toward the stroke center.

[2] Spray grease in the gap (i.e., over the rollers)

between the finger and finger guide (4 locations; keep the spray time to a maximum of 1 second at each location). After spraying, turn the opening/closing screw to move the fingers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

9. Maintenance/Inspection

Warning

 Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of

grease will drop and the machine may suffer damage due to increased friction.

 Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second,

and never spray more than once. If too much grease is applied, excess grease may flow into the electronic components and cause malfunction.

Warning

 The encoder phase has been precisely adjusted to ensure accurate detection of rotational angle and

home signal. To prevent gripper failure due to an offset encoder phase, never touch the encoder.

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

Page 84

[Two-finger Type with High Gripping Force (RCP2-GRHM, GRHB)]

[1] Use a flathead screwdriver to turn the

opening/closing screw on side cover to move the fingers toward the stroke center.

Open/close screw

Finger

Finger guide

[2] Spray grease in the gap (on the steel balls)

between the finger and finger guide (4 locations; keep the spray time to a maximum of 1 second at each location). After spraying, turn the

Grease application

opening/closing screw to move the fingers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

Warning

9. Maintenance/Inspection

• Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of

grease will drop and the machine may suffer damage due to increased friction.

• Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second,

and never spray more than once. If too much grease is applied, excess grease may flow into the electronic components and cause malfunction.

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

Page 85

9.4.2 Guide: Cleanroom Specification

(1) Applicable grease

The following grease is applied to the feed screw before the gripper is shipped from the factory. This is the grease that generates low dust.

Kuroda Precision Industries C grease

Warning

 Never use a standard specification grease. This may generate dust.  Never use a fluorine grease. If a fluorine grease is mixed with a lithium grease, chemical reaction may

take place and the machine may suffer damage.

(2) How to apply grease

[Small Two-finger Slide Type (RCP2CR-GRSS)]

[Small Two-finger Lever Type (RCP2CR-GRLS)]

Cover

Small two-finger slide type (RCP2CR-GRSS)

Finger

Finger guide

Open/close screw

9. Maintenance/Inspection

[1] In the case of small two-finger slide type

(RCP2CR-GRSS), remove the rubber cover. Rubber covers have “notches” on them. Detach the notches when removing the rubber cover.

[2] Using a 2.5-mm Allen wrench, turn the

opening/closing screw at the center of the fingers to move the fingers toward the stroke center.

Grease application

[3] With your finger, apply grease to the gap

between finger and finger guide (steel bearing). After applying the grease, work it in by twisting the opening/closing screw to move the finger back and forth a few times. Remove excess grease and grease spatters.

Page 86

Cover

[4] Attach the rubber cover in the case of small

two-finger slide type (RCP2CR-GRSS).

Small two-finger slide type (RCP2CR-GRSS)

Warning

• Never use a fluorine grease. If a fluorine grease is mixed with a lithium grease, the lubricating

function of grease will drop and the machine may suffer damage.

• Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second,

and never spray more than twice. If too much grease is applied, excess grease may flow into the electronic components and cause malfunction.

Warning

9. Maintenance/Inspection

• The encoder phase has been precisely adjusted to ensure accurate detection of rotational angle and

home signal. To prevent malfunctioning, never touch the encoder.

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

Page 87

9.5 Feed Screw Medium Two-finger Type (RCP2-GRS/GRM)

(1) Applicable grease

The following grease is applied to the feed screw before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2

Use lithium spray grease during maintenance. Take note that grease should not be sprayed for more than 1 second.

(2) How to apply grease

[1] Remove the screws affixing side cover R and side cover L (countersunk head screw M2.6 x 6).

Remove side cover R. Separate side cover L from the gripper frame. (The cover is still connected via internal cables. Do not pull the internal cables.)

9. Maintenance/Inspection

Open/close screw

Guide cover L screw

[2] Turn the opening/closing screw on side cover L to

move the fingers toward the closing side until the guide cover R/L screws are visible.

Page 88

[3] Remove screws affixing guide covers R and L (2 pieces on each side). Slide the guide covers

horizontally to the opening side and remove. (Countersunk head screw M2 x 3)

Note: The cutout dimensions are different between guide covers R and L. Keep the removed guide covers

properly so that they will not be mixed up when installed.

[4] Use a flathead screwdriver to turn the

opening/closing screw on side cover L to move the fingers toward the opening side.

9. Maintenance/Inspection

[5] From the opening, spray grease over the feed screw at 2 locations through the springs (keep the

spray time to a maximum of 1 second). After spraying, turn the opening/closing screw to move the fingers back and forth several times to spread the grease evenly.

Page 89

[6] Move the fingers to the closing side. Insert the

guide covers from sides and affix with screws. Insert guide covers R and L on the correct sides.

Side cover R Side cover L

[7] Install and securely affix side covers R and L.

When affixing side cover L, be careful not to pinch the cables.

9. Maintenance/Inspection

Warning

 Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of

grease will drop and the machine may suffer damage due to increased friction.

 Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second,

and never spray more than once. If too much grease is applied, excess grease may flow into the electronic components and cause malfunction.

Warning

 The encoder phase has been precisely adjusted to ensure accurate detection of rotational angle and

home signal. To prevent gripper failure due to an offset encoder phase, never touch the encoder.

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

Page 90

9.6 Two-finger Type with High Gripping Force

(1) Applicable grease

Synthetic poly- olefin grease has been charged to the feed screw prior to shipment. The following grease is applied to the feed screw before the gripper is shipped from the factory.

Lubricant by Sumitomo Metal Mining Sumitec 308

Other manufacturers also offer equivalent products, but exercise caution when using a different product because the life of the actuator may be affected depending on the selected grease.

Warning

 Never use grease other than synthetic poly- olefin grease. If synthetic poly- olefin grease is mixed

with other type of grease, not only the mixed grease will lose its intended function, but the actuator may also suffer damage depending on the situation.

(2) How to apply grease

9. Maintenance/Inspection

[1] Remove the screws affixing side cover R and side cover R (countersunk head screw M3 x 6).

Page 91

[2] Turn the opening/closing screw to move the fingers to their stroke ends on the closed side. [3] Use a grease syringe to charge grease from the opening on the right side so as to coat the feed

screw with grease. After the feed screw has been coated with grease roughly, turn the opening/closing screw to move the fingers back and forth several times to spread grease evenly.

[4] Turn the opening/closing screw to move the fingers to their stroke ends on the open side. [5] Use a grease syringe to charge grease from the opening on the bottom face of the guide base so as

to coat the feed screw with grease. After the feed screw has been coated with grease roughly, turn the opening/closing screw to move the fingers back and forth several times to spread grease evenly.

[6] Install and securely affix side covers R.

Warning

• The encoder phase has been precisely adjusted to ensure accurate detection of rotational angle and

home signal. To prevent gripper failure due to an offset encoder phase, never touch the encoder.

9. Maintenance/Inspection

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

Page 92

9.7 Greasing the Two-finger Long-stroke Type (RCP2-GRST)

9.7.1 Greasing to the Feed Screw (Worm/Rack Gears)

(1) Applicable grease

This actuator uses lithium grease No. 2. During maintenance, use spray-type lithium grease. Do not spray grease for more than 1 second.

The following grease is applied to the guide before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2

(2) How to apply grease

Apply grease through gaps along the top cover.

[1] Turn the opening/closing screw with a screwdriver to move the fingers toward their homes.

[2] Spray grease toward the worm gears through gaps along the top cover. (Do not spray more than

1 second on the left and right.)

9. Maintenance/Inspection

[3] Turn the opening/closing screw using a screwdriver to move the fingers in the directions opposite

their homes (toward the stroke center).

[4] Spray grease in the same manner as in [2].

[5] After grease has been applied, turn the opening/closing screw to move the fingers back and forth

several times to spread the grease evenly

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

Page 93

9.7.2 Greasing to the Guide

(1) Applicable grease

This actuator uses lithium grease No. 2. During maintenance, use spray-type lithium grease. Do not spray grease for more than 1 second.

The following grease is applied to the guide before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2

(2) How to apply grease

[1] Remove the screws from the side cover P.

(Cross-recessed head machine screw for precision equipment M2 x 4)

9. Maintenance/Inspection

[2] Remove the screws from the fingers L and R.

(Low hexagonal head socket bolts M3 x 6)

Page 94

Gaps

[3] Slide the top cover and pull it out..

[4] Spray grease into the gaps along the LM guide.

Apply grease at a total of four locations on the left and right guide blocks.. Do not spray grease for more than 1 second in each location.

9. Maintenance/Inspection

[5] After grease has been applied, turn the

opening/closing screw to move the fingers back and forth several times to spread the grease evenly. Wipe off excess grease or grease that has scattered.

[6] Install the top cover, fingers L/R and side cover P

you have removed earlier.

Page 95

Warning

 Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of

grease will drop and the machine may suffer damage due to increased friction.

 Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second,

and never spray more than once. If too much grease is applied, excess grease may flow into the electronic components and cause malfunction.

Warning

 The encoder phase has been precisely adjusted to ensure accurate detection of rotational angle and

home signal. To prevent gripper failure due to an offset encoder phase, never touch the encoder.

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

9. Maintenance/Inspection

Page 96

9.8 Greasing the Three-finger Gripper

9.8.1 Slide Type

Greasing the Guide

(1) Applicable grease

The following grease is applied to the guide before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2

Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second.

(2) How to apply grease

Open/close screw

Greasing the Gears

(1) Applicable grease

The following grease is applied to the gears before the gripper is shipped from the factory.

Kyodo Yushi Multemp AC-D No. 2

9. Maintenance/Inspection

Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second.

(2) How to apply grease

Open/close screw

Gear meshing location

Finger

Finger guide

[1] Use a flathead screwdriver to turn the

opening/closing screw located deep at the center counterclockwise to move the fingers toward their respective stroke centers.

[2] Spray grease in the gap (i.e., over the rollers)

between the finger and finger guide (6 locations; keep the spray time to a maximum of 1 second at each location). After spraying, turn the opening/closing screw to move the fingers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

[1] Use a flathead screwdriver to turn the

opening/closing screw located deep at the center clockwise to move the fingers toward the ends of their respective strokes.

[2] Spray grease at the gear meshing locations

(3 locations; keep the spray time to a maximum of 1 second at each location).

After spraying, turn the opening/closing screw to

Gear meshing location

move the fingers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

Page 97

9.8.2 Lever Type

 Greasing the Gears

(1) Applicable grease

The following grease is applied to the gears before the gripper is shipped from the factory.

Kyodo Yushi Multemp AC-D No. 2

Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second.

(2) How to apply grease

Open/close screw

Gear meshing location

[1] Use a flathead screwdriver to turn the

opening/closing screw located deep at the center clockwise to move the levers toward the ends of their respective strokes.

[2] Spray grease at the gear meshing locations

(3 locations; keep the spray time to a maximum of 1 second at each location).

After spraying, turn the opening/closing screw to

move the levers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

Warning

• Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of

grease will drop and the machine may suffer damage due to increased friction.

• Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second,

and never spray more than once. If too much grease is applied, excess grease may flow into the electronic components and cause malfunction.

9. Maintenance/Inspection

Caution

•• In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

Page 98

10. Specifications

10.1. Specification List

Open/close stroke

Maximum gripping force 14 N 6.4 N 21 N 80 N Maximum open/close

speed Stopping repeatability

Backlash

Lost motion

Allowable load moment (*2)

Position detection method

Finger drive method

Finger guide structure Linear guide (ball) --- Cross roller guide Gripper weight 0.2 kg 0.2 kg 0.36 kg 0.5 kg

*1 Constantly pushed toward the opening side by a spring.

10. Specifications

*2 Moments generated in a standstill state

Small two-finger type Medium two-finger type

Slide type Lever type Slide type

RCP2-GRSS

RCP2CR-GRSS

RCP2W-GRSS

8 mm

(4 mm per side)

78 mm/sec

(Per side)

0.01 mm 0.01 deg 0.01 mm 0.01 mm

0.1 mm max.

on each side *1

0.05 mm max. on each side

Ma: 0.5 N-m Mb: 0.5 N-m Mc: 1.5 N-m

Worm gear + Spiral bevel

gear + Spiral bevel rack

RCP2-GRLS

RCP2CR-GRLS

RCP2W-GRLS

180 deg

(90 deg per side)

600 deg/sec

(Per side)

1 deg max.

on each side *1

0.1 deg max. on each side

Magnetic incremental encoder 800 P/rev

Worm gear + Spiral bevel

gear

RCP2-GRS RCP2-GRM

10 mm

(5 mm per side)

33.3 mm/sec (Per side)

0.15 mm max.

on each side *1

0.1 mm max. on each side

Ma: 6.3 N-m Mb: 6.3 N-m Mc: 7.0 N-m

Timing belt + Trapezoid screw

14 mm

(7 mm per side)

36.7 mm/sec (Per side)

0.15 mm max.

on each side *1

0.1 mm max.

on each side

Ma: 6.3 N-m Mb: 6.3 N-m Mc: 8.3 N-m

Two-finger Type with High Gripping Force

Slide type

RCP2-GRHM

(Gear ratio 1:1)

Open/close stroke 32 mm

(16 mm per finger) Maximum gripping force 125 N 200 N Maximum open/close

speed Stopping repeatability

Backlash 0.2 mm Lost motion 0.15 mm max. Allowable load moment Ma: 15.2 N-m

Mb: 21.7 N-m Mc: 60.5 N-m

Position detection method

Finger drive method Stepping motor + Timing belt + Trapezoidal slip screw Finger guide structure Linear limited-rotation rolling ball bearing Gripper weight 1.14 kg 1.5 kg

100 mm/s (on each side)

0.01 mm

11.7

16.7

46.5

Magnetic encoder (incremental )

RCP2-GRHB

(Gear ratio1 : 1)

40 mm

(20 mm per finger)

15.7

Ma: 20.4 N-m

26.4

Mb: 34.3 N-m

59.8

Mc: 77.8 N-m

Page 99

Long-stroke type

Slide type

RCP2-GRST

(Gear ratio: 2.27)

Open/close stroke 40 mm

(20 mm

per finger)

60 mm

(30 mm

per finger)

RCP2-GRST

(Gear ratio: 1.05)

80 mm

(40 mm

per finger)

100 mm

(50 mm

per finger)) Maximum gripping force 20 N 40 N Maximum open/close

speed Stopping repeatability

75 mm/s 34 mm/s

0.01 mm Backlash 0.2 mm max. on each side Allowable load moment Ma: 2.93 N-m

Mb: 2.93 N-m

Mc: 5.0 N-m

Position detection method

Magnetic incremental encoder 800 P/rev

Finger drive method Stepping motor + Timing belt + Worm/rack gears Finger guide structure Linear guide (ball) Gripper weight 0.51 kg 0.55 kg 0.61 kg 0.66 kg

Three-finger type

Slide type Lever type

RCP2-

GR3SS

Open/close stroke 5 mm

(per finger)

RCP2-

GR3SM

7 mm

(per finger)

RCP2-GR3LS RCP2-GR3LM

19 deg

(-14 to +5)

19 deg

(-14 to +5) Maximum gripping force 22 N 102 N 18 N 51 N Maximum open/close

speed Stopping repeatability

Backlash

Lost motion

Allowable load moment (*2)

Position detection method

400 mm/s

(Per side)

50 mm/s

(Per side)

200 deg/s (Per side)

0.01 mm 0.01 mm 0.01 deg 0.01 deg

0.3 mm max.

on each side *1

0.1 mm max. on each side

Ma: 3.8 N-m Mb: 3.8 N-m

Mc: 3.0 N-m

0.3 mm max.

on each side *1

0.1 mm max. on each side

Ma: 6.3 N-m Mb: 6.3 N-m Mc: 5.7 N-m

1.0 deg max.

on each side *1

0.15 deg max. on each side

---

1.0 deg max.

on each side *1

0.15 deg max. on each side

---

Magnetic incremental encoder 800 P/rev

Finger drive method Worm gear + Worm wheel gear Finger guide structure Cross roller guide Gripper weight 0.6 kg 1.2 kg 0.6 kg 1.1 kg

*1 Constantly pushed toward the opening side by a spring. *2 Moments generated in a standstill state

10. Specifications

Page 100

10.2 Cable Wiring Diagram

10.2.1 Small Two-finger Slide Type (RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS), Small Two-finger Lever Type (RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS) Two-finger Long-stroke type (RCP2-GRST) Two-finger Type with High Gripping Force (RCP2-GRHM, GRHB)

[1] Integrated motor/encoder cable

Model: CB-PCS-MPA

(Front view) (Front view)

Controller end Actuator end

10. Specifications

Signal Pin no. Pin no. Signal

(Wire color)

Black White

Red Green Yellow Brown

Pink (with red dot) Pink (with blue dot)

White (with red dot) White (with blue dot) Orange (with red dot)

Orange (with blue dot)

Gray (with red dot)

Gray (with blue dot)

Orange (with consecutive blue dots) Gray (with consecutive red dots)

Gray (with consecutive blue dots)

Shielded wire

IAI America RCP2W-GRLS User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Note

CE Marking

Table of Contents

Safety Guide

Handling Precautions

1.1 Small Two-finger Slide Type (Standard) (RCP2-GRSS)

1. Names of Gripper Parts

1.2 Small Two-finger Slide Type (Cleanroom Specification) (RCP2CR-GRSS)

1.3 Small Two-finger Slide Type (Dust-proof Specification) (RCP2W-GRSS)

1.4 Small Two-finger Lever type (Standard) (RCP2-GRLS)

1.5 Small Two-finger Lever type (Cleanroom Specification) (RCP2CR-GRLS)

1.6 Small Two-finger Lever type (Dust-proof Specification) (RCP2W-GRLS)

1.7 Medium Two-finger Type (RCP2-GRS/GRM)

1.8 Two-finger Type with High Gripping Force (RCP2-GRHM/GRHB)

1.9 Two-finger Long-stroke Type (RCP2-GRST)

1.10 Three-finger Slide Type (RCP2-GR3SS/GR3SM)

1.11 Three-finger Lever Type (RCP2-GR3LS/GR3LM)

2.1 Components

2. Checking the Product

2.2 Operation Manuals Relating to This Product

2.3 How to Read Model Nameplate

2.4 How to Read the Model Number

3.1 Installation Environment

3.2 Storage Environment

3. Installation Environment, Storage Environment

4.1 Installing the Gripper

4. Installation Method

4.2 Gripper Brackets (Optional)

4.3 Installation of Finger Attachments

5.1 Connecting the Controller

5. Cable Connection

5.2 Checks after Installation

6.1 Finger Operation

6. Notes on Use

6.2 Removal of Gripped Work Part

6.3 Adjustment of Gripping Force

6.4 Guide to Determining Maximum Work Part

6.5 Distance between Finger Attachment and Gripping Point, and Finger Shape

6.6 Notes on Transferring Work Parts

7. Cleanroom Specification (RCP2CR-GRSS, RCP2CR-GRLS)

7.1 About the Suction Amount

8. Dust-proof Specification (RCP2W-GRSS, RCP2W-GRLS)

8.1 About the Dust-proof Capability

9. Maintenance/Inspection

9.1 Inspection Items and Schedule

9.2 Visual Inspection of the Exterior

9.3 Exterior Cleaning

9.4 Greasing the Two-finger Gripper

9.5 Feed Screw Medium Two-finger Type (RCP2-GRS/GRM)

9.6 Two-finger Type with High Gripping Force

9.7 Greasing the Two-finger Long-stroke Type (RCP2-GRST)

9.8 Greasing the Three-finger Gripper

10. Specifications

10.1. Specification List

10.2 Cable Wiring Diagram