ROBO Cylinder GRSS, GRS, GRLS, GRM, GRHM Instruction Manual

ROBO Cylinder

RCP2 Actuator Gripper Type

Standard Specification

Instruction Manual

Eleventh Edition

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

IAI Co

r

p

oration

Please Read Before Use

Thank you for purchasing our product.

This instruction 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 DVD that comes with the product contains instruction manuals for IAI products. When using the product, refer to the necessary portions of the applicable instruction manual by printing them out or displaying them on a PC.

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

[Important]

• This instruction manual is original.

• This product is not to be used for any other purpose from what is noted in this instruction

manual. IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual.

• The information contained in this instruction manual is subject to change without notice for the purpose of production improvement.

• If you have any question or finding regarding the information contained in this instruction manual, contact our customer center or our sales office near you.

• Using or copying all or a part of this instruction manual without permission is prohibited.

• The company names, names of products and trademarks of each company shown in the

sentences are registered trademarks.

Table of Contents

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

Caution in Handling ................................................................................................ 8

International Standards Compliances ....................................................................11

1. Specifications Check....................................................................................... 19

1.1 Checking the Product........................................................................................................ 19

1.1.1 Parts ..................................................................................................................... 19

1.1.2 Instruction Manuals for the Controllers Related to this Product........................... 19

1.1.3 How to Read the Model Nameplate ..................................................................... 20

1.1.4 How to Read the Model Number.......................................................................... 20

1.2 Specifications .................................................................................................................... 21

1.2.1 Common............................................................................................................... 21

1.2.2 Relation between the Current Limit Value and the Grip Force............................. 23

1.2.3 Duty in Continuous Operation.............................................................................. 30

1.3 Operating Conditions......................................................................................................... 31

1.3.1 Grippping Force.................................................................................................... 31

1.4 Option................................................................................................................................ 40

1.4.1 Reversed-home Specification (Model: NM) ......................................................... 40

1.4.2 Shaft Bracket (Model: SB)................................................................................... 40

1.4.3 Flange Bracket (Model: FB) ................................................................................ 41

1.4.4 Cable Eject Direction Changed (Model: CJT, CJR, CJL, CJB) ............................ 43

1.4.5 Cable Exit from Bottom and Cable Exit from Side (Model: A0, A1) ..................... 43

1.5 Motor • Encoder Cables .................................................................................................... 44

1.5.1 Small Slim Two-finger Slide Type (GRSS), Small Slim Two-finger Lever Type (GRLS), Two-finger Long-stroke Type (GRST), Two-finger Type with

High Gripping Force (GRHM/GRHB) ................................................................... 44

1.5.2 Small and Medium Two-finger Type (GRS/GRM), Three-finger Slide Type

(GR3SS/GR3SM), Three-finger Lever Type (GR3LS/GR3LM)............................ 46

2.

Installation....................................................................................................... 48

2.1 Transportation ................................................................................................................... 48

2.2 Installation and Storage • Preservation Environment........................................................ 50

2.3 How to Install..................................................................................................................... 51

2.3.1 Installation ............................................................................................................ 51

2.3.2 Installation of the Main Unit.................................................................................. 52

2.3.3 Gripper Brackets (Optional) ................................................................................. 63

2.3.4 Installation of Finger Attachments ........................................................................ 67

3. Connecting with the Controller........................................................................ 80

4. Operation........................................................................................................ 85

4.1 Operation of the Fingers.................................................................................................... 85

4.2 Removal of Gripped Work Part ......................................................................................... 87

5. Maintenance and Inspection........................................................................... 89

5.1 Inspection Items and Schedule ......................................................................................... 89

5.2 Visually Inspecting the Exterior ......................................................................................... 90

5.3 Exterior Cleaning............................................................................................................... 90

5.4 Grease Supply for Two-Fingered Small Slim Type, Small Type and Medium Type.......... 90

5.4.1 Guide, Finger and Finger Guide........................................................................... 90

5.5 Feed Screw Small and Medium Two-finger Type (GRS/GRM)......................................... 94

5.6 Two-finger Type with High Gripping Force (GRHM/GRHB).............................................. 97

5.7 Greasing the Two-finger Long-stroke Type (GRST).......................................................... 99

5.7.1 Greasing to the Feed Screw (Worm/Rack Gears) ............................................... 99

5.7.2 Greasing to the Guide ........................................................................................ 100

5.8 Grease Supply for Three-Fingered Slide Type (GR3SS/GR3SM) .................................. 103

5.8.1 Greasing the Guide, Finger and Finger Guide................................................... 103

5.8.2 Greasing the Gears ............................................................................................ 104

5.9 Grease Supply for Three-Fingered Lever Type (GR3LS/GR3LM).................................. 105

5.9.1 Greasing the Gears ............................................................................................ 105

6.

External Dimensions..................................................................................... 106

6.1 GRSS .............................................................................................................................. 106

6.2 GRLS............................................................................................................................... 107

6.3 GRS................................................................................................................................. 108

6.4 GRM ................................................................................................................................ 109

6.5 GRHM.............................................................................................................................. 110

6.6 GRHB ...............................................................................................................................111

6.7 GRST............................................................................................................................... 112

6.8 GR3SS ............................................................................................................................ 113

6.9 GR3SM............................................................................................................................ 114

6.10 GR3LS............................................................................................................................. 115

6.11 GR3LM ............................................................................................................................ 11 6

7. Warranty ........................................................................................................117

7.1 Warranty Period............................................................................................................... 117

7.2 Scope of the Warranty..................................................................................................... 117

7.3 Honoring the Warranty .................................................................................................... 117

7.4 Limited Liability................................................................................................................ 11 7

7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,

and Applications .............................................................................................................. 118

7.6 Other Items Excluded from Warranty.............................................................................. 118

Change History....................................................................................................119

1

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 1before 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.

Operation

Description

1 Model

Selection

● 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.

2

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 instruction 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

3

No.

Operation

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.

4 Installation

and Start

(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

2

(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 100Ω or below).

4

No.

Operation

Description

4 Installation

and Start

(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.

5

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.

6

No.

Operation

Description

8 Maintenance

and Inspection

● 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, 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.

● For the grease for the guide or ball screw, use appropriate grease

according to the instruction 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 instruction manual of each unit to ensure the safety.

7

Alert Indication

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

Level Degree of Danger and Damage Symbol

Danger

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

Danger

Warning

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

Warning

Caution

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

Caution

Notice

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

Notice

8

Caution in Handling

1. Make sure to follow the usage condition, environment and specification range of the product.

In case it is not secured, it may cause a drop in performance or malfunction of the product.

2. Do not attempt to have any handling or operation that is not stated in this instruction manual.

3. It is recommended to apply our products for the wiring between the actuator and the controller.

4. Do not attempt to establish the settings for the speed and acceleration/ deceleration above the allowable range.

An operation with speed and acceleration/deceleration beyond the allowable range may cause an abnormal noise, vibration, malfunction or shortened life.

5. Set the allowable moment within the allowable range.

An operation with the load beyond the allowable moment may cause an abnormal noise, vibration, malfunction or shortened life. If it is extreme, flaking may occur on the guide.

6. Make sure to attach the actuator properly by following this instruction manual.

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

7. In case of removing the grease applied on the fingers and finger guides

after delivery, make sure to implement a rust prevention treatment.

Applicable models : GRSS, GRS, GRM, GR3SS, GR3SM

There is grease applied on the fingers and finger guides at the delivery for rust prevention treatment. The fingers and finger guides may gather rust if the grease is wiped away. Also, have grease or an anti-rust agent applied on the fingers and finger guides regularly. [Refer to 5.4.1 Guide, Finger and Finger Guide in 5.4 Grease Supply for Two-Fingered Small Slim Type, Small Type and Medium Type, or 5.8.1 Greasing the Guide, Finger and Finger Guide in 5.8 Grease Supply for Three-Fingered Slide Type (GR3SS/GR3SM) for how to supply grease]

Two-Finger Type Three-Finger Type

Finger Guide

Finger

Finger Guide

Finger

9

8. Make sure to follow the cautions listed below when transferring a work

piece.

If the fingers receive a strong force or impact other than the gripping force when transferring work parts, the finger positions may deviate, looseness may occur or damage may result. Accordingly, pay due attention to the points listed below.

¡ Cause the center of gravity of the work part to match the gripping point as much as possible. If

the two are not aligned, gravitational moments will force the work part to assume an unstable posture.

Center of gravity of the work part

Gripping point

Unstable

¡ While being gripped, the work part should have play (clearance) in the gripping direction. Also

perform thorough alignment and avoid using the gripper in a manner where loads concentrate on one finger alone when a work part is gripped.

No clearance is available. Loads are received unevenly.

Clearance is available.

10

¡ Avoid using the gripper in a manner where it press-fits a gripped work part into a hole or pulls

out a work part that has been press-fit.

Do not press-fit a work part.

Do not pull out a press-fit work part.

¡ Avoid pushing a work part against a jig, etc., at the end of the movement stroke when the work

part is moved or reversed.

Do not push a work part. Do not push a work part.

¡ When inserting a work part into a hole, provide a sufficient clearance by anticipating positional

variation. Also perform thorough alignment. (Pay attention to contact at the time of insertion.)

Clearance is available. No clearance is available.

An impact load is received.

Not aligned.

11

International Standards Compliances

This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.

RoHS Directive CE Marking

c c

12

Names of the Parts

1. Small Slim Two-finger Slide Type: GRSS

Finger guide

Open/close screw

Finger

Frame

Motor cover

PG cable

M cable

Motor cover lid

Front Rear

Right

Left

13

2. Small Slim Two-finger Slide Type: GRLS

Lever L

Open/close screw

Lever R

Frame

Motor cover

M cable

PG cable

Front Rear

Right

Left

14

3. Small and Medium Two-finger Type: GRS/GRM

Right

Left

Front Rear

Side cover L

Side cover R

Frame

Finger guide

Actuator cable

Finger R

Finger L

Guide cover R

Open/close screw

Guide cover L

15

4. Two-finger Type with High Gripping Force: GRHM/GRHB

Open/close screw

Side cover L

Left

Frame

Side cover R

Rear

Front

Finger L

Finger R

Open/close screw

Guide base

Connector

16

5. Two-finger Long-stroke Type: GRST

Actuator cable

Top cover

Finger R

Finger L

Open/close screw

Side cover P

Side cover C

Frame

Front

Rear

Right

Left

17

6. Three-finger Slide Type: GR3SS/GR3SM

Rear cover

Open/close screw

Main cover

Left

Actuator cable

Frame

Finger A

Motor cover

Guide

base

Right

Finger C

Finger B

Top

Bottom

Rear

Front

Close direction Open direction

18

7. Three-finger Lever Type: GR3LS/GR3LM

Rear cover

Open/close screw

Left

Actuator cable

Frame

Finger A

Right

Finger C

Finger B

Front cover

Main cover

Motor cover

Rear

Front

Close direction Open direction

Top

Bottom

1. Specications Check

19

1. Specifications Check

1.1 Checking the Product

The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor.

1.1.1 Parts

No. Name Model number Quantity Remarks

1 Actuator

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

1

Accessories

2 First Step Guide 1

3 Instruction Manual (DVD) 1

4 Safety Guide 1

1.1.2 Instruction Manuals for the Controllers Related to this Product

No. Name Control No.

1 Instruction Manual for PSEL Controller ME0172 2 Instruction Manual for PCON-CA/CFA Controller ME0289 3 Instruction Manual for PCON-C/CG/CF Controller ME0170 4 Instruction Manual for PCON-CY Controller ME0156 5 Instruction Manual for PCON-SE Controller ME0163 6 Instruction Manual for PCON-PL/PO Controller ME0164 7 Instruction Manual for MSEP Controller ME0299 8 Instruction Manual for ASEP/PSEP Controller ME0216

9 Instruction Manual for PC Software IA-101-X-MW/IA-101-TT-USB ME0154 10 Instruction Manual for PC Software RCM-101MW/RCM-101-USB ME0155 11 Instruction Manual for Teaching Pendant CON-T/TD/TG ME0183 12 Instruction Manual for Teaching Pendant CON-T/TD/TGS ME0178 13 Instruction Manual for Touch Panel Teaching Pendant CON-PTA/PDA/PGA ME0295 14 Instruction Manual for Touch Panel Teaching Pendant CON-PT/PD/PG ME0227 15 Instruction Manual for Touch Panel Teaching Pendant SEP-PT ME0217 16 Instruction Manual for Simple Teaching Pendant RCM-E ME0174 17 Instruction Manual for Data Setter RCM-P ME0175 18 Instruction Manual for Touch Panel Display RCM-PM-01 ME0182

19

Instruction Manual for Touch Panel Teaching TB-01/01D/01DR (Applicable for Program Controller)

ME0325

20

Instruction Manual for Touch Panel Teaching TB-01/01D/01DR (Applicable for Position Controller)

ME0324

1. Specications Check

20

1.1.3 How to Read the Model Nameplate

1.1.4 How to Read the Model Number

RCP2 - GRS - I - 20P - 1 - 10 – P1 - P - SB

Series RCP2

<Type>

Small Slim Two-finger Slide Type:

GRSS

Small Slim Two-finger Lever Type:

GRLS

Small and 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

I : Incremental

20P: 20□ size 28P: 28□ size 35P: 35□ size 42P: 42□ size

1: 1/1 30: 1/30

Model

Serial number

MODEL RCP2-GRS-I-20P-1-10-P1-P-SB

SERIAL No.000090266 MADE IN JAPAN

SB : Shaft bracket FB : Flange bracket NM : Reversed-home specification

CJT : Cable exit direction changed

(Top)

CJR : Cable exit direction changed

(Right)

CJL : Cable exit direction changed

(Left)

CJB : Cable exit direction changed

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

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

P1 : PSEL

PCOM-C/CG

PCON-CY

PCON-SE

PCON-PL/PO P3 : PCON-CA PMEC PSEP MSEP

1. Specications Check

21

1.2 Specifications

1.2.1 Common

Small Slim Two-finger Type

Small Two-finger

Type

Medium Two-finger

Type

Slide type Lever type Slide type

GRSS GRLS GRS GRM

Open/Close Stroke

8 mm

(4 mm per side)

180 deg

(90 deg per side)

10 mm

(5 mm per side)

14 mm

(7 mm per side)

Maximum Gripping Force 14 N 6.4 N 21 N 80 N

Maximum Open/Close Speed

78 mm/sec

(Per side)

600 deg/sec

(Per side)

33 mm/sec

(Per side)

36 mm/sec

(Per side)

Read 1.57 mm 12 mm 1 mm 1.1 mm

No. of Encoder Pulses 800 800 800 800

Stopping Repeatability ±0.01 mm ±0.01 deg ±0.01 mm ±0.01 mm

Backlash

0.2 mm max.

on each side

(Note 1)

1 deg max.

on each side

(Note 1)

0.15 mm max.

on each side

(Note 1)

0.15 mm max.

on each side

(Note 1)

Lost Motion

0.05 mm max. on each side

0.1 deg max. on each side

0.1 mm max. on each side

Allowable Load Moment

(Note 2)

Ma: 0.5 N•m Mb: 0.5 N•m

Mc: 1.5 N•m

Ma: 6.3 N•m Mb: 6.3 N•m Mc: 7.0 N•m

Ma: 6.3 N•m Mb: 6.3 N•m Mc: 8.3 N•m

Finger Drive Method

Worm gear

+ Spiral bevel gear

+ Spiral bevel rack

Worm gear

+ Spiral bevel gear

Timing belt + Trapezoid screw

Finger Guide Structure Linear guide (ball) --- Cross roller guide

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

Two-finger Type with High Gripping Force

Slide type

GRHM

(Gear ratio 1:1)

GRHB

(Gear ratio1:1)

Open/Close Stroke

32 mm

(16 mm per finger)

40 mm

(20 mm per finger)

Maximum Gripping Force 125 N 200 N

Maximum Open/Close Speed 100 mm/s (on each side)

Read 2 mm

No. of Encoder Pulses 800

Stopping Repeatability ±0.01 mm

Backlash 0.2 mm

Lost Motion 0.15 mm max.

Allowable Load Moment

Ma: 11.7N•m Mb: 16.7N•m Mc: 46.5N•m

Ma: 15.7N•m Mb: 26.4N•m Mc: 59.8N•m

Finger Drive Method

Stepping motor + Timing belt

+ Trapezoidal lead screw

Finger Guide Structure Linear limited-rotation rolling ball bearing

1. Specications Check

22

Long-stroke Type

Slide type

GRST

High-velocity Type

(Gear ratio: 1)

GRST Standard type (Gear ratio: 2)

Open/Close Stroke

40 mm

(20 mm

per finger)

60 mm

(30 mm

per finger)

80 mm

(40 mm

per finger)

100 mm

(50 mm

per finger)

Maximum Gripping Force 20 N 40 N

Maximum Open/Close Speed 75 mm/s 34 mm/s

Read 2.27 mm 1.05 mm

No. of Encoder Pulses 800

Stopping Repeatability ±0.01 mm

Backlash 0.2 mm max. on each side

Lost Motion

Ma: 2.93 N•m Mb: 2.93 N•m

Mc: 5.0 N•m

Allowable Load Moment Stepping motor + Timing belt + Worm/rack gears

Finger Drive Method Linear guide (ball)

Three-finger Type

Slide type Lever type

GR3SS GR3SM GR3LS GR3LM

Open/Close Stroke

5 mm

(per finger)

7 mm

(per finger)

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

400 mm/s

(Per side)

50 mm/s

(Per side)

200 deg/s (Per side)

200 deg/s

(Per side)

Read 2.5 mm 3 mm 12 mm 12 mm

No. of Encoder Pulses 800 800 800 800 Stopping Repeatability ±0.01 mm ±0.01 mm ±0.01 deg ±0.01 deg

Backlash

0.3 mm max.

on each side

(Note 1)

0.3 mm max.

on each side

(Note 1)

1.0 deg max.

on each side

(Note 1)

1.0 deg max.

on each side

(Note 1)

Lost Motion

0.1 mm max. on each side

0.15 deg max. on each side

Allowable Load Moment

(Note 2)

Ma: 3.8 N•m Mb: 3.8 N•m

Mc: 3.0 N•m

Ma: 6.3 N•m Mb: 6.3 N•m Mc: 5.7 N•m

---

Finger Drive Method Worm gear + Worm wheel gear

Finger Guide Structure Cross roller guide

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

1. Specications Check

23

1.2.2 Relation between the Current Limit Value and the Grip 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 Slim Two-finger Slide Type (GRSS) ● Small Slim Two-finger Lever Type (GRLS)

Gripping force [N]

Current-limiting value [%]

Gripping force [N]

Current-limiting value [%]

* 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 × 15.5/ (L + 15.5)

1. Specications Check

24

● Small and Medium Two-finger Type (GRS/GRM)

Gripping point

GRS GRM

Gripping force [N]

Current-limiting value [%]

Gripping force [N]

Current-limiting value [%]

1. Specications Check

25

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

Gripping force [N]

Current-limiting value [%]

Gripping force [N]

Current-limiting value [%]

Gripping point

GRHM GRHB

1. Specications Check

26

● Two-finger Long-stroke Type (GRST)

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

Standard type

High-speed type

Gripping force [N]

Current-limiting value [%]

Gripping force [N]

Current-limiting value [%]

1. Specications Check

27

● Three-finger Slide Type (GR3SS/GR3SM)

Gripping point

L

GR3SS GR3SM

Gripping force [N]

Current-limiting value [%]

Gripping force [N]

Current-limiting value [%]

1. Specications Check

28

● Three-finger Lever Type (GR3LS/GR3LM)

Gripping point

L

GR3LS GR3LM

F = Gripping force [N]

Current-limiting value [%]

F = Gripping force [N]

Current-limiting value [%]

* 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 (GR3LS) = F × 24/ (L + 14) Effective gripping force(GR3LM) = F × 28.5/ (L + 18.5)

1. Specications Check

29

Caution: (1) It is a reference when pressing performed with speed 5mm/s for Slide Type, and with 5deg/s for

Lever Type.

(2) The grip force is the values under the conditions stated below.

● Two-finger Type Slide Type: Total value of grip force of both slides at the top surface of the slides (gripping

point = 0mm, overhang = 0mm)

Lever Type: Total value of grip force of both slides at the top surface of the Levers (gripping

point = 0mm, overhang = 0mm) The actual grip force drops in inverse proportion to the distance from the fulcrum of open and close.

Slide Type Lever Type

● Three-finger Type Slide Type: Total value of grip force of both slides at the top surface of the slides (gripping

point = 0mm, overhang = 0mm)

Lever Type: Total value of grip force of both slides at the top surface of the Levers (gripping

point = 10mm, overhang = 0mm) The actual grip force drops in inverse proportion to the distance from the fulcrum of open and close.

L

F

L

Slide Type Lever Type

(3) There is a little variance in the actual grip force. The variance of the grip force becomes large

when the current limit value is low.

(4) Use the product within the range in the graph for the current limit value. Pressing force will not

be stable if used below 20%. There is even a case that it would not operate. The product cannot be used above 70%. Doing so may cause degradation in the motor coil insulation by heat radiation, which results in shortening the product life.

(5) For the CON system controllers such as PCON, when the approach speed (setting in the

position table) to the pressing start position is 5mm/s or less, pressing is performed at the approach speed. In such a case also the pressing force will be unstable. In such cases, check in advance that the actuator can be used with no problem before omit using. For the SEL system controllers such as MSEL, pressing operation is performed at the speed set in PAPR Command regardless of the approach speed to the pressing start position.

1. Specications Check

30

1.2.3 Duty in Continuous Operation

Continuous operation is available with the duty 100%. Duty is the rate of operation expressed in % that represents the time of the actuator being operated in 1 cycle of operation.

1. Specications Check

31

1.3 Operating Conditions

It is necessary to satisfy the conditions stated below to use the product. Conduct the following calculation to make sure it is satisfied.

1.3.1 Grippping Force

[1] Slide Types

Procedure 1 : Check for the necessary grip force and

transportable work piece mass

Procedure 2 : Check for the vertical allowable load of the fingers

and allowable moment

Procedure 1 : Check for the necessary grip force and transportable work

piece mass If a work piece is to be gripped on the fingers with the friction force created by the grip force, the formula to calculate the necessary grip force is as follows;

(1) In case of ordinary transportation

F : Grip Force [N]……Sum of pressing force on each finger μ : Coefficient of static friction between finger attachment and

work piece m : Mass of work piece [kg] g : Gravitational acceleration [= 9.8m/s

2

] The condition to grip the work piece statically and that the work piece would not drop is;

Fμ > W

F >

The necessary grip force assuming the safety factor recommended for ordinary transportation is 2 should be;

F > × 2 (safety factor)

When coefficient of friction is μ0.1 to 0.2;

F > × 2 = (10 to 20) × mg

* The mass of a transportable work piece will get higher as the coefficient of static friction is higher.

However it is necessary to that enables it to obtain a grip force of 10 to 20 times or more to ensure the safety.

mg

μ

mg

μ

mg

0.1 to 0.2

For ordinary work piece transportation;

Necessary grip force ⇒ 10 to 20 times or more of work piece mass Transportable work piece mass ⇒ 1/10 to 1/20 or less of grip force

Friction coefficient

μ

F / 2

W (m g)

F / 2

coefficient

μ

F / 3 F / 3

F / 3

W (m g)

Friction

↓

1. Specications Check

32

(2) In case of high acceleration/deceleration speed or a big impact is applied to the work piece during

transportation High inertial force, in addition to the gravity, will be applied to the work piece. In such cases, consider an even higher safety factor if it is necessary.

When high acceleration/deceleration speed or a big impact is applied;

Necessary grip force ⇒ 30 to 50 times or more of the work piece mass Transportable work piece mass ⇒ 1/30 to 1/50 or less of the grip force

1. Specications Check

33

Procedure 2 : Check for the vertical allowable load of the fingers and allowable moment

Check the vertical load and the moment applicable to the finger. Figure out Fz, Ma, Mb and Mc by referring to (1) to (3) described below, and it is necessary to select a suitable model considering not to exceed the allowable values.

Fig. 1 Load and the moment applicable to the finger

M

Ia

,

M

Oa

F

X

M

Ib

,

M

Ob

M

Oc

Reactive force of gripping the work part

Finger

Finger attachment

Gripping point

Work

Center of gravity for finger attachment and work piece

F

Y

F

Z

L

C

L

G

H

C

H

G

FX: FY: FZ: LG: HG: LC:

H

C

:

External force in X direction applied to work piece and finger [N] External force in Y direction applied to work piece and finger [N] External force in Z direction applied to work piece and finger [N] Distance from finger attachment surface to gripping point (Gripping point) [mm]

(Note 1)

Distance from center of fingers to gripping point (Overhang) [mm]

(Note 1)

Distance from finger attachment surface to center of gravity for work piece and finger attachment [mm] Distance from center of fingers to center of gravity for work piece and finger attachment [mm]

M

Ia

:

M

Ib

:

M

Oa

:

M

Ob

:

M

Oc

: Ma: Mb: Mc:

Moment in Ma direction generated on fingers due to grip force [N•m] Moment in Mb direction generated on fingers due to grip force [N•m]

Moment in Ma direction generated on fingers due to external force [N•m] Moment in Mb direction generated on fingers due to external force [N•m] Moment in Mc direction generated on fingers due to external force [N•m]

All moments in Ma direction generated on fingers [N•m] All moments in Mb direction generated on fingers [N•m] All moments in Mc direction generated on fingers [N•m]

Note1 For L

G

and HG, have the values next page as the upper limit. Exceeding the allowable range may generate an excessive moment on the

finger sliding mechanism, which may be a cause of a bad impact to the product life.

1. Specications Check

34

¡ Two-finger Gripper

Fig. 2 Upper Limits of Gripping Point L

G and Overhang HG of Two-finger Gripper

GRHM, GRHB

GRM

GRST

GRS

GRSS

0 20 40 60 80

20

40

60

80

100

¡ Three-finger Gripper

Fig. 3 Upper Limit of Gripping Point LG of

Three-finger Gripper

L

GR3SS ⇒ L50 mm or less GR3SM ⇒ L80 mm or less

Overhang H

G

[mm]

Gripping point LG [mm]

1. Specications Check

35

Table 1: Allowable Load and Allowable Moment on the Fingers

(Note 1)

Max. Allowable Moment [N•m]

(Note 2)

Model

Allowable Load in Vertical [N]

F

Zmax

M

amax

M

bmax

M

cmax

GRSS 60 0.5 0.5 1.5

GRS 253 6.3 6.3 7.0

GRM 253 6.3 6.3 8.3 GRHM 390 11.7 16.7 46.5 GRHB 502 15.7 26.4 59.8 GRST 275 2.93 2.93 5.0

GR3SS 169 3.8 3.8 3.0

GR3SM 253 6.3 6.3 5.7

Note 1 The graphs show the values for allowable load and allowable moment in static on one finger. Note 2 The values for the allowable moment are those when the load is applied in one direction

only.

• The values become one half when the load is applied from in two directions.

• The values become 1/3 when the load is applied from in three directions.

(1) Moment generated on fingers due to gripping force

1) Moment in M

a

direction [MIa]

• Two-finger type M

Ia

＝ L

G

× 10-3

• Three-finger type M

Ia

＝ L

G

× 10-3

F

G

: Grip force of gripper [N]

2) Moment in M

b

direction [MIb]

• Two-finger type M

Ib

＝ H

G

× 10-3

• Three-finger type: Need not be calculated.

F

G

: Grip force of gripper [N]

Refer to “1.2.2 Relation between Current Limit Value and Grip Force” for gripping force F

G

. As the grippuing force is a reference value, it is multiplied by 1.5 for the safety margin in the moment calculation.

1.5F

G

2

1.5F

G

2

1.5F

G

3

1. Specications Check

36

(2) Moment generated on the fingers due to an external force

External force as well as gripping force will be applied to the work piece and the finger attachment in the movements such as moving straight or turning in the condition of the gripper being attached on a Cartesian Robot, Articulated Robot or other actuators. Have the following calculation.

♦ External force applied on the work piece and finger attachment [F

X

, FY, FZ] Figure out the following types of external forces in three directions, X, Y and Z, applied on the work piece and finger attachment considering the condition of the gripper use, and sum up all the values to determine F

X

, FY and FZ.

a) Weight of the work piece and finger attachment

F = mg m : mass of the work piece and finger attachment [kg],

g : gravitational acceleration [=9.8m/s

2

]

b) Inertial force in the gripper moving straight

F = ma a : Acceleration/deceleration during transportation [m/s

2

]

c) Centrifugal force in gripper turning

F = mr ω

2

r : Radius of turning [m], ω : Angular velocity [deg/s]

Confirm that Fz is below the allowable load vertical direction, F

zmax

in Table 1.

♦ Moment generated on the fingers due to an external force

Figure out the moment in each direction due to external forces F

X

, FY and FZ calculated above.

1) Moment in Ma direction [M

oa

]

M

oa

= LcFX × 10-3

2) Moment in Mb direction [M

ob

]

M

ob

= HcFX × 10-3

3) Moment in Mc direction [M

oc

]

M

oc

= LcFY × 10-3+ HcFZ × 10-3

(3) All moments in each direction generated to the fingers

• Two-finger type

M

a

= MIa + Moa, Mb= MIb + Mob, Mc= Moc

• Three-finger type

M

a

= MIa + Moa, Mb= Mob, Mc= Moc

Confirm that the value figured out in the calculation above is below the allowable moment stated in Table 1.

(Note) Select finger attachments that are as small and light

as possible within the allowable ranges. If the fingers are long and large or heavy, moments may generate due to impact upon gripping of the work part and consequently the actuator performance may drop or guide may be negatively affected.

1. Specications Check

37

[2] Lever Types

Procedure 1 : Check for the necessary gripping force and

transportable work piece mass

Procedure 2 : Check for the moment of inertia on the finger

attachment

Procedure 3 : Check for the external force applied on finger

Procedure 1 : Check for the necessary gripping force and the

transportable work piece mass

In the same manner as Procedure 1 for Slide types, figure out the necessary grip force and confirm that the requirement is satisfied. Figure out the effective grip force on the gripping point by referring to “1.2.2 Relation between the Current Limit Value and the Gripping Force”.

Procedure 2 : Check for the moment of inertia on the finger attachment

Make sure all the moments of inertia for the Z-axis (fulcrum) turning on the finger attachment are within the allowable range. Figure out by dividing to several equations considering the structure and profile of the finger attachment. For reference, shown below is an example how to figure out by dividing to two equations.

(1) Moment of inertia for Z1-axis (center of gravity in A) turning (Part A)

m

1 : Mass of A [kg]

a, b, c : Dimensions of A [mm] m

1 [kg] = a1 × b1 × c1 × Specific gravity × 10-6

I

Z1 [kg•m

2

] = × 10-6

(2) Moment of inertia for Z2-axis (center of gravity in B) turning (Part B)

I

Z2

[kg•m2] = × 10-6

m1 (a1

2

+ b12)

12

m2 (a

2

+ b22)

12

For ordinary work piece transportation;

Necessary gripping force ⇒ 10 to 20 times or more of the work piece mass Transportable work piece mass ⇒ 1/10 to 1/20 or less of the gripping force

When high acceleration/deceleration speed or a big impact is applied;

Necessary gripping force ⇒ 30 to 50 times or more of the work piece mass Trans

p

ortable work piece mass ⇒ 1/30 to 1/50 or less of the gri

p

ping

Friction coefficient

μ

Friction coefficient

μ

W (m g)

F / 2

F / 3F / 3

F / 3

F / 2

↓

(Fulcrum)

Z

2

R

2

Z

R

1

Z

1

: Fulcrum

Z

: Fulcrum

Z

B

a2

c2

c1b1

b2

a1

A

1. Specications Check

38

(3) All Moments of inertia for Z-axis (fulcrum) Turning

R

1: Distance from center of gravity of A to the

finger open/close fulcrum [mm]

R

2: Distance from center of gravity of B to the

finger open/close fulcrum [mm]

I

[kg•m2] = (IZ1 + m1R

1

2

× 10-6) + (IZ2 + m2R

2

× 10-6)

Confirm that the value figured out in the calculation above is below the allowable moment of inertia stated in Table 2.

Procedure 3 : Check for the external force applied on the finger

External force as well as grip force will be applied to the work piece and the finger attachment in the movements such as moving straight or turning in the condition of the gripper being attached on a Cartesian Robot, Articulated Robot or other actuators.

(1) Allowable Load Torque

Use the product in a condition that the load torque applied to the fingers is below the maximum allowable load torque.

R

1

R

2

F

2

F

1

T

0

R

1

R

2

F

2

F

1

T

0

Gripping point

Center of gravity of the work part

Center of gravity of the finger attachment

Z : Fulcrum

m

1

: Mass of the work piece [kg]

m

2

: Mass of the finger attachment [kg]

R

1

: Distance from the center of gravity for the work piece to the finger open/close fulcrum [mm]

R

2

: Distance from the center of gravity for the finger attachment to the finger open/close

fulcrum [mm]

F

1

: External force applied on the work piece [N]

F

2

: External force applied on the finger attachment [N]

T

0

: Torque generated on the fingers due to an external force [N•m]

¡ External force applied on the work piece and the finger attachment

Figure out the following types of external forces applied on the work piece and finger attachment considering the condition of the gripper use, and sum up all the values.

a) Weight of the work piece and finger attachment

F = mg m : mass of the work piece and finger attachment [kg],

g : gravitational acceleration [=9.8m/s

2

]

b) Inertial force in gripper moving straight

F = ma a : Acceleration/deceleration during transportation [m/s

2

]

c) Centrifugal force in gripper turning

F = mr ω

2

r : Radius of turning [m], ω : Angular velocity [deg/s]

Total External Force

F

1

= m1g + m1a + m1rω2 • • • External force applied on the work piece

F

2

= m2g + m2a + m2rω2 • • • External force applied on the finger attachment

Table 2: Allowable Moment of Inertia on the Finger

(Note 1)

Model

Allowable Moment of

Inertia

I

max

[kg•m2]

Mass

(Reference)

Max [kg]

GRLS

1.5 × 10

-4

0.05

GR3LS

3.0 × 10

-4

0.1

GR3LM

9.0 × 10

-4

0.2

(Note 1) The table shows the values for allowable

moment of inertia, allowable load torque and allowable thrust load for the static condition on one finger.

1. Specications Check

39

¡ Torque generated on the fingers due to an

external force

T

0

＝ F1R1 × 10

-3

+ F2R2 × 10-3

Confirm that the value figured out with the formula above is below the maximum allowable load torque stated in Table 3.

(2) Allowable Thrust Load

Use the product in a condition that the load torque applied to the fingers is below the maximum allowable load torque.

F

2

F

1

F

0

m

1

: Mass of the work piece [kg]

m

2

: Mass of the finger attachment [kg]

F

1

: External force applied on the work piece [N]

F

2

: External force applied on the finger

attachment [N]

F

0

: Load generated on the finger attachment [N]

¡ External force applied on the work piece and the finger attachment

Figure out the following types of external forces applied on the work piece and the finger attachment considering the condition of the gripper use, and sum up all the values.

a) Weight of the work piece and the finger attachment

F = mg m : mass of the work piece and the finger attachment [kg],

g : gravitational acceleration [=9.8m/s

2

]

b) Inertial force in the gripper moving straight

F = ma a : Acceleration/deceleration during transportation [m/s

2

]

c) Centrifugal force in the gripper turning

F = mr ω

2

r : Radius of turning [m], ω : Angular velocity [deg/s]

Total External Force

F1 = m

1

g + m1a + m1rω2 • • • External force applied on the work piece

F2 = m

2

g + m2a + m2rω2 • • • External force applied on the finger attachment

¡ Load generated on the Finger due to an External Force

F

0

= F1 + F2

Confirm that the value figured out with the formula above is below the allowable thrust load stated in Table 4.

(Note) Attempt to have the finger attachment minimized in size and weight

even if it is in the allowable range. If the fingers are long and big in size and heavy in mass, the moment caused by an impact at gripping may cause a performance drop or give a bad impact to the structural area.

Table 3: Allowable Load Torque on the Finger

(Note 1)

Model

Max. Allowable Load Torque T

max

[N•m]

GRLS 0.05

GR3LS

0.1

GR3LM

0.3

Table 4: Allowable Thrust Load on Finger

(Note 1)

Model

Allowable Thrust Load

F

max

[N]

GRLS 15

GR3LS

-

GR3LM

-

Note 1 The table shows the values for allowable

moment of inertia, allowable load torque and allowable thrust load for the static condition on one finger.

Note 1 The table shows the values for allowable

moment of inertia, allowable load torque and allowable thrust load in static on one finger.

1. Specications Check

40

1.4 Option

1.4.1 Reversed-home Specification (Model: NM)

In standard, the direction described in “4.1 Operation of Finger Part in 4. Operation” is the home-return direction. It can be on the opposite side in case the home position is set on the other side due to such reasons as layout of equipment.

(Note) The home position is adjusted at the factory before shipment. If you wish to change the home

after the delivery of your actuator, you must return the actuator to IAI for adjustment.

1.4.2 Shaft Bracket (Model: SB)

It is a fixing bracket to attach the gripper body.

For GRSS/GRLS Model code of single product : RCP2-SB-GRSS

30

23

4

9

15

0.05

±

0.022

0

-

10h8

14

34

1717

φ

2

H7

4-φ3.4 drilled hole

3

-

φ

41

φ

( )

0.010

0

+

( )

For GRS For GRM Model code of single product : RCP2-SB-GRS Model code of single product : RCP2-SB-GRM

15

30

± 0.05

4

15

0

- 0.022

φ10h8

φ 14

C0.5

R 0.2 or less

C0.5

4-φ4.5

2- φ3 H7 2- φ3 H7

21

28

±

0.05

10.5

± 0.05

21

28

φ42

4-φ4.5

φ 14

C0.5

R

15

30

4

15

C0.5

24

31

12

24

φ

45

28

± 0.05

( )

0

0.022

φ 10h8

reamed through

0.2 or less

-

1. Specications Check

41

For GRHM For GRHB Model code of single product : RCP2-SB-GRHM Model code of single product : RCP2-SB-GRHB

For GR3SS/GR3LS For GR3SM/GR3LM Model code of single product : RCP2-SB-GR3S Model code of single product : RCP2-SB-GR3M

(32)

(15)

30

5

15

3- 4.5

120

45

φ

62

φ

10h8

10

0.05

0

°

120

°

120

°

120

°

±

(32)

(15)

30

2

5

15

0.05

±

-

φ

3- 5.5

φ

14

φ

10h8

φ

14

φ

55

φ

10

0.05

0

-

φ

73

φ

1.4.3 Flange Bracket (Model: FB)

It is a bracket to fix the gripper body.

For GRSS/GRLS Model code of single product : RCP2-FB-GRSS

( )

M4-6H

9

6.5

41

20.5

34

18

φ

10H8

+0.022

0

2- φ3H7

+0.010

0

23

4

depth 4

( )

4-φ3.4

drilled hole

1. Specications Check

42

For GRS For GRM Model code of single product : RCP2-FB-GRS Model code of single product : RCP2-FB-GRM

5

18

M5

26.5

36

28

18

3- φ 4.5

φ1 0 H 8 φ1 0 H 8

+0.022

0

21 28

10.5

± 0.05

18

M5

26.5

36

5

3- φ4.5

28

18

12

± 0.05

31

24

( )

2- H7

φ3

+0.012

0

(back

surface

)

( )

depth 4

2- H7

φ3

+0.012

0

(back

surface

)

( )

depth 4

+0.022

0

( )

For GRHM For GRHB Model code of single product : RCP2-FB-GRHM Model code of single product : RCP2-FB-GRHB

For GR3SS For GR3SM Model code of single product : RCP2-FB-GRS Model code of single product : RCP2-FB-GRM

(32)

(25)

5

9

45

φ

62

φ

10

0.05

0

120

°

120

°

120

°

120

°

30

2

0.05

±

(32)

(25)

5

9

30

0.05

±

2-M5

-

10h8 depth 25

φ

10h8 depth 25

φ

3- 4.5

φ

3- 5.5

φ

18

29

φ

18

29

φ

55

φ

10

0.05

0

-

φ

73

φ

1. Specications Check

43

1.4.4 Cable Eject Direction Changed (Model: CJT, CJR, CJL, CJB)

Application

: GRHM/GRHB

If a change in the cable ejection direction is made, the direction of cable ejection will be changed. There are four types of ejection directions, top (model code: CJT), right (model code: CJR), left (model code: CJL) and bottom (model code: CJB).

Top (CJT)

Bottom (CJB)

Ringt (CJR)

Left (CJL)

Finger side

1.4.5 Cable Exit from Bottom and Cable Exit from Side (Model: A0, A1)

Application: GRST

If a change in the cable ejection direction is made, the direction of cable ejection will be changed. There are two types for the direction change, bottom (model: A0) and side (model: A1).

Exit from side

Optional model: A1

Exit from bottom

Optional model: A0

1. Specications Check

44

1.5 Motor • Encoder Cables

1.5.1 Small Slim Two-finger Slide Type (GRSS), Small Slim Two-finger Lever Type (GRLS), Two-finger Long-stroke Type (GRST), Two-finger Type with High Gripping Force (GRHM/GRHB)

[PSEL and PCON Controller (Except for PCON-CA)]

1) Motor • Encoder Integrated Cables Robot Type

Model: CB-PCS-MPA□□□

(□□□ indicates the cable length L Example: 020 = 2m), up to 20m

A

VMM

/A

B

VMM

/B

Black

White

Red

Green Yellow Brown

Orange

Gray

White

Yellow

Red

Black

Brown

Yellow (Identification tape)

Red (Identification tape)

Green (Identification tape)

Shielded wire

B1 A2 A1 B3 B2 A3

A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9

B9 A10 B10 A11 B11

A

VMM

/A B

VMM

/B NC

NC BK+ BKLS+ LS-

A+

AB+ B-

NC

VPS VCC GND

NC FG

BK+ BKLS+ LS-

A+ AB+ B-

NC

VPS

VCC

GND

NC FG

14 13 16 15 12 11 10

9 8 7 6 5 4 1

Signal Pin No.

(Wire Color)

Pin No. Signal

Controller Side Actuator Side

(Front View) (Front View)

L

(15)

(φ10.5)

(18)

(8)

(20)

(8)

(5)

(30)

(18)

(23)

Green

(Note) The cable colors shown are those after cables have changed. The cable colors before

changed is different.

1. Specications Check

45

[PCON-CA, PMEC, PSEP and MSEP Controller]

1) Motor • Encoder Integrated Cables Robot Type

Model: CB-APSEP-MPA□□□ / CB-APSEP-MPA□□□-LC

(□□□ indicates the cable length L Example: 020 = 2m), up to 20m

1 2 5 3 4 6 7

8 11 12 13 14 15 16

9 10 20 18 17 19 21 24 22 23

A1 B1 A2 B2 A3 B3 A4 B4 A6 B6 A7 B7 A8 B8 A5 B5 A9

B9 A10 B10 A11 B11

Black [

φA]

White [VMM]

Brown [

φA]

Green [

φB]

Yellow [VMM]

Red [

φB]

Orange [LS+]

Gray [LS-]

White [-]

Yellow [-]

Red [A+]

Green [A-]

Black [B+]

Brown [B-]

+]K[BBlack (Identification tape)

-]K[BBrown (Identification tape) S]LDN[GGreen (Identification tape)

S]P[VRed (Identification tape)

C]C[VWhite (Identification tape)

D]N[GYellow (Identification tape)

NC

G][FShielded NC NC

Controller side

Actuator side

L

Actuator side Controller side

(10)

(26)

(18)

(Front view)

(30)

(45)

φ8.5

Terminal No. Terminal No.

1. Specications Check

46

1.5.2 Small and Medium Two-finger Type (GRS/GRM), Three-finger Slide Type (GR3SS/GR3SM), Three-finger Lever Type (GR3LS/GR3LM)

[PSEL, PCON controller (Except for PCON-CA)]

1) Motor Cable

Model: CB-RCP2-MA□□□

(□□□ indicates the cable length L Example: 020 = 2m), up to 20m

(20) (8)

(Front View)

(15)

L

CN3

C N

1

(φ8)

(28)

(14)

(20)

(Front View)

Actuator Side

Controller Side

A

VMM

B A

VMM

B

A

VMM

A B

VMM

B

I-1318119-3

(AMP)

SLP-06V

(JST)

M Cable

CN3 CN1

Orange Gray White Yellow Pink Orange(Black1)

Yellow Gray Orange Orange(Black1) Pink White

A1 A2 A3 B1 B2 B3

1 2 3 4 5 6

2) Encoder Cable / Encoder Cable Robot Type

Model: CB-RCP2-PB□□□ / CB-RCP2-PB□□□-RB

(□□□ indicates the cable length L Example: 020 = 2m), up to 20m

L

C N 2

CN4

(5) (8) (13) (15)

(18)

(Front view)

(φ9)

(35)

(25)

(Front view)

Actuator Side

Controller Side

PHDR-16VS

(JST)

XMP-18V

(JST)

Blue (Red1) White Red Gray Brown Green Purple Pink

Yellow Orange Blue

-

Drain

CN4

CN2

Cable color

Signal name

Pin No.

Brown Green Purple Pink

-

Blue Orange Yellow

-

Blue(Red1)

White

Red Gray Drain

Light Gray (Black1) Light Gray (Red1) White (Black1) White (Red1)

-

Pink (Black1) Pink (Red1) Yellow(Black1)

Orange (Black2) Orange (Red2)

Orange (Black1) Orange (Red1)

Drain

Orange (Black2) Orange (Red2) Orange (Black1)

Orange (Red1) Light Gray(Black1) Light Gray (Red1)

White (Black1)

White (Red1)

Yellow (Black1) Pink (Red1) Pink (Black1)

-

Drain

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17 18

LS+

LS-

BK+

BKENA ENA ENB ENB

VPS VBB

(N.C) (N.C) (N.C)

F.G

ENA ENA ENB ENB

-

GND

VBB VPS

-

LS+

LS-

-

BK+

BK-

F.G

16 15 14 13 12 11 10

9 8 7 6 5 4 3 2 1

Shielded wire

Ground wire

Cable color

Standard cable

Robot cable

Standard cable

Robot cable

Signal name

Pin No.

1. Specications Check

47

[PCON-CA, PMEC, PSEP and MSEP Controller]

1) Motor • Encoder Integrated Cables

Model: CB-PSEP-MPA□□□

(□□□ indicates the cable length L Example: 020 = 2m), up to 20m

L

Actuator Side Controller Side

(10)

(26)

(15)

(Front View)

(25)

(15)

(14)

(20)

(14)

(9)

1 2 3 4 5 6

9 10 11 12

7

8 13 14 15 16 17 18 19 20 21 22 23 24

1 2 4 5 3

6 16 17

5

6 13 14

1

2

3

4 10 11

9 12 15

7

8 18

Black [φA]

White [VMM]

Red [φB]

Green [VMM]

Brown [φ/A]

Yellow [φ/B]

Orange [BK+]

Gray [BK-]

NC

NC Black [LS+] Brown [LS-]

White [A+]

Yellow [A-]

Red [B+]

Green [B-] White (Identification tape) [VCC] Yellow (Identification tape) [VPS]

Red(Identification tape) [GND]

Green (Identification tape) [(Spare)]

NC NC NC

Shielded wire [ FG ]

Controller Side

Terminal No.

Actuator Side

Terminal No.

2. Installation

48

2. Installation

2.1 Transportation

[1] Handling of the Actuator

Unless otherwise specified, the actuator is shipped with each axis unit packaged separately.

(1) Handling the Packed Unit

y Do not damage or drop. The package is not applied with any special treatment that enables it to

resist an impact caused by a drop or crash.

y Transport a heavy package with at least more than two operators. Consider an appropriate method

for transportation.

y Keep the unit in a horizontal orientation when placing it on the ground or transporting. Follow the

instruction if there is any for the packaging condition.

y Do not step or sit on the package. y Do not put any load that may cause a deformation or breakage of the package.

(2) Handling the Actuator After Unpacking

y Do not carry the actuator by its motor unit or its cable or attempt to move it by pulling the

cable.

y Hold the frame or motor cover section of the body when transporting the actuator main body. y Do not hit or drop the actuator during transportation. y Do not attempt to force any part of the actuator. Do not apply excess force especially on the fingers,

finger guide and levers.

2. Installation

49

[2] Handling in the Assembled Condition

This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base.

(1) How to Handle the Package

y Do not hit or drop the package. No special treatment is conducted on this package to endure a drop

or impact on it.

y Do not attempt to carry a heavy package with only one worker. Also, have an appropriate method

for transportation.

y When hanging up with ropes, support on the reinforcement frame on the bottom of the lumber base.

When bringing up the package with a forklift, also support on the bottom of the lumber base.

y Handle with care when putting the package down to avoid impact or bounce. y Do not step on the package. y Do not put anything on the package that could deform or damage it.

(2) How to Handle after Unpackaged

y Fix the finger so they would not accidently move during transportation. y If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due to the

external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.

y When hanging up with ropes, have appropriate cushioning to avoid any deformation of the actuator

body. Also keep it in stable horizontal orientation. Make a fixture utilizing the attachment holes and the tapped holes on the actuator body if necessary.

y Do not attempt to apply load on the actuators or the connector box. Also pay attention not to pinch

cables and bend or deform them forcefully.

[3] Handling in Condition of being assembled in Machinery Equipment (System)

These are some caution notes for when transporting the actuator being assembled in the machinery equipment (system):

y Fix the finger so it would not move during transportation. y If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due to the

external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.

y When hanging up the machinery equipment (system) with ropes, do not attempt to apply load on the

actuators or the connector box. Also pay attention not to pinch cables and bend or deform them forcefully.

2. Installation

50

2.2 Installation and Storage • Preservation Environment

[1] Installation Environment

The actuator should be installed in a location other than those specified below.

Also provide sufficient work space required for maintenance inspection.

y Where the actuator receives radiant heat from strong heat sources such as heat treatment

furnaces

y Where the ambient temperature exceeds the range of 0 to 40°C y Where the temperature changes rapidly and condensation occurs y Where relative humidity larger than 85%RH y Where the actuator receives direct sunlight y Where the actuator is exposed to corrosive or combustible gases y Where the ambient air contains a large amount of powder dust, salt or iron (at level exceeding

what is normally expected in an assembly plant)

y Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical

solutions

y Where the actuator receives impact or vibration y Place with an altitude of 2,000m or more

If the actuator is used in any of the following locations, provide sufficient shielding measures:

y Where noise generates due to static electricity, etc. y Where the actuator is subject to a strong electric or magnetic field y Where the actuator is subject to ultraviolet ray or radiation

[2] Storage • Preservation Environment

y The storage and preservation environment should comply with the same standards as those for

the installation environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no dew condensation forms.

y Unless specially specified, moisture absorbency protection is not included in the package when

the machine is delivered. In the case that the machine is to be stored and preserved in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package.

y For storage and preservation temperature, the machine withstands temperatures up to 60°C for a

short time, but in the case of the storage and preservation period of 1 month or more, control the temperature to 50°C or less.

y Storage and preservation should be performed in the horizontal condition. In the case it is stored

in the packaged condition, follow the posture instruction if any displayed on the package.

2. Installation

51

2.3 How to Install

This chapter explains how to install the actuator on your mechanical system.

2.3.1 Installation

{ : Possible × : Not possible

Horizontal

installation

Vertical installation

Sideways

installation

Ceiling Mount

installation

{ { { {

Installation Orientation

Horizontal Vertical Sideways Ceiling Mount

2. Installation

52

2.3.2 Installation of the Main Unit

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.

[1] GRSS

The actuator can be mounted and affixed on five surfaces.

24

42

34

35

17

8.5

17

4

8.5

17

4

43

47

71

(Same on opposite side)

8-M3 depth 5

(Same on opposite side)

8-M3 depth 5

4-M3 depth 5

2-3+ depth 3

0.05 0

(Same on opposite side)

2-3 depth3

+ 0.05 0

(Same on opposite side)

2-φ 3 depth 3

+ 0.03 0

(Same on opposite side)

2-φ 3+ depth3

0.03 0

(Same on opposite side)

9

φ 3 depth 3

+ 0.03 0

(Same on opposite side)

3 depth 3

+ 0.05 0

4

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

53

[2] GRLS

The actuator can be mounted and affixed on five surfaces.

MAX180°MIN 0

°

73

49

(Same on opposite side)

8-M3

depth

5

42

3 5

17

8.5

34

4

4-M3

depth

5

3

depth

5

+

0.05 0

φ 3

depth

3

+

0.03 0

2-φ 3

depth

3

+

0.03 0

(Same on opposite side)

17

4

45

1 7

8-M3

depth

5

(Same on opposite side)

2-3

depth

3

+

0.05 0

24

2-φ 3

depth

3

+

0.03 0

(Same on opposite side)

2-3

depth

3

+

0.05 0

4

9

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

54

[3] GRS

(Same on back side)

Installation surface

69

30

21

4

3

+ 0.05

0

depth2.5

71

φ 3

+ 0.03 0

depth2.5

68

28

4-M 4depth 6

3

2-φ 3

+ 0.03

0

depth2.5

4-M 4 depth 7

24

2- 3

+ 0.05

0

depth2.5

5

36

29

Rear

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

55

[4] GRM

(Same on back side)

Installation surface

35

φ 3

+ 0.03

0

depth2.5

36

3

+ 0.05

0

depth2.5

4

24

4-M 4depth 6

28

79

763

74

2-φ 3

depth2.5

36

4-M4 depth 8

24

2-3

depth2.5

5

25

+ 0.03

0

+ 0.05

0

Rear

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

58

[7] GRST

st+ 90

st+ 89

st/2+ 51.5 st/2+ 37.5

st/2st/ 2

33

Installation surface

32

Installation surface

40

2-M4 depth 6

(Same on back side)

4-M4depth 5

4

28

25.5

60

6

449.5

4

26

53.5

+ 0.03

φ

3

depth 3

0

(Same on back side)

+ 0.05

3

depth 3

0

(Same on

back side)

+ 0.05

3

depth 3

0

+ 0.03

φ

3

depth 3

0

Rear

st: Stroke 40, 60, 80, 100

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

56

[5] GRHM

Installation surface

(same on the opposite side)

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

long hole depth 5

(same on the opposite side)

long hole depth 5

4-M5, depth 8

depth 5

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

57

[6] GRHB

Installation surface

depth 6 (same on the opposite side)

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

depth 6

long hole depth 6

(same on the opposite side)

long hole depth 6

4-M6, depth 10

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

59

[8] GR3SS

(Same on back side)

Blank plug (Set screw M4 x 5)

Installation

surface

Installation surface

Installation

surface

4

24

36

2-3

+ 0.05 0

depth3

120°

70

φ 59

0

-0.05

40

4- M 5depth 8

1.5

φ 57

120°

104

2- φ3

+ 0.03 0

depth 3

φ 57

110

10

45

3-M 4(Effective depth 6)

φ 45

62

4- φ 4.5

(Use holes in the flange)

48

62

48

A

Detail view of A (2:1)

Rear

2 0.5

10

+0.05

0

(Note) If the gripper is installed

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

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

60

[9] GR3SM

(Same on back side)

Blank plug (Set screw M5 x 6)

Installation surface

Installation

surface

Installation surface

4-M 6depth12

2-3

+ 0.05

0

depth 3

2- φ 3

+ 0.03

0

depth 3

φ 75

120°

3-M 5(Effective depth 7)

φ 75

118

125

77

0

-0.05

4

48

1.5

53

12

7847

62

80

62

80

4- φ 5.5

(Use holes in the flange)

φ 62

A

34

Rear

Detail view of A (2:1)

10

+0.05

0

0.52

(Note) If the gripper is installed

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

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

61

[10] GR3LS

(Same on back side)

Blank plug (Set screw M4 x 5)

Installation surface

Installation

surface

Installation surface

4

24

36

2-3

+ 0.05 0

depth 3

120°

59

0

-0.05

28

4-M 5 depth8

1.5

φ 57

120°

2- φ3

+ 0.03 0

depth3

φ 57

10

3-M 4(Effective depth 6)

φ 45

112

84

48

62

48

4- φ 4.5

(Use holes in the flange)

62

50.5

17.5 (129.5)

A

16

Rear

Detail view of A (2:1)

2 0.5

10

+0.05

0

φ

(Note) If the gripper is installed

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

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

62

[11] GR3LM

(Same on back side)

Rear

Blank plug (Set screw M5 x 6)

Installation surface

Installation

surface

Installation surface

1.5

64

34

4- φ 5.5

(Use holes in the flange)

80

48

4-M 6depth 12

2-3

+ 0.05 0

depth 3

2- φ 3

+ 0.03 0

depth3

114

62

80

62

φ 75

120°

3-M 5(Effective depth 7)

φ 75

4

12

7836

φ 62

22

(136)

A

20

φ 29

77

0

-0.05

Detail view of A (2:1)

2 0.5

10

+0.05

0

(Note) If the gripper is installed

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

Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore,

never use long screws exceeding

2. Installation

63

30

15

± 0.05

15

4

φ

10h8 ( )

0

-0.022

φ

14

Shaft bracket

φ

41

34

23

9

18

Flange bracket

41

34

23

9

φ

10H8

( )

+

0.022 0

φ10

Relief

Shaft end structure

2.3.3 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.

[1] GRSS/GRLS

* 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.

2. Installation

64

Shaft bracket Flange bracket

φ

[2] GRS

[3] GRM

2. Installation

65

[4] GRHM

Shaft bracket

Flange bracket

[5] GRHB

Flange bracketShaft bracket

2. Installation

66

[6] GR3SS/GR3LS

Shaft bracket

Flange bracket

φ 55

φ 14

φ10h8

(

0

-0.022

)

(

15)

5

30

15

± 0.05

φ 45

120°

φ 55

φ 29

(

25)

5

30

± 0.05

120°

φ

45

φ10H8(

+ 0.022

0

)

depth 25

[7] GR3SM/GR3LM

Shaft bracket

Flange bracket

φ 14

φ 10h8(

0

-0.022

)

(15)

5

30

15

± 0.05

φ 62

120°

φ 73

φ 29

(25)

5

30

± 0.05

120°

φ

62

120°

φ10H 8(

+ 0.022

0

) depth

25

2. Installation

67

2.3.4 Installation of Finger Attachments

The finger attachments are provided by the customer.

[1] Installation dimensions for finger attachments

● GRSS

5 4.2

13.9

2-M3 depth 4

9

0

-0.05

MAX13.5

MIN5.5

1.5

2

2-φ3h7

( )

0

-0.010

● GRLS

2- φ 4

depth 2.5

+ 0.03

0

4-M4 througs

9

18

36

18

42

9± 0.05

2. Installation

68

depth 8

● GRS

● GRM

2. Installation

69

● GRHM

4-M4, depth 6

depth 5

Home

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

33.5

33.5 6.56.5 33.5

● GRHB

4-M4, depth 6

depth 5

Home

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

42.5

39.5

39.539.5

2. Installation

70

● GRST

2.5

12±0.05

MIN 6

4-M3

depth

5

12.5

±

0.05

3

19

449.5

28 25.5

19

24

+

0.03

φ

3

depth

3

0

25

-

0.05

2. Installation

71

depth 5

depth 6

φ

● GR3SS

● GR3SM

2. Installation

72

● GR3LS

● GR3LM

2. Installation

73

[2] 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.

● GRSS

Positioning pin

Positioning in open/close directions

Open/close

directions

Finger attachment

Affixing bolt M3

Shoulder contact surface

Positioning in vertical directions

Vertical

directions

Finger

2. Installation

74

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.

● GRLS

Shoulder contact surface

Positioning in open/close direction

Finger attachment

Lever

Positioning pin

Positioning in vertical direction

A

ffixing bolt M4

Open/close

directions

Vertical

directions

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.

2. Installation

75

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.

● GRS/GRM

Positioning pin

Positioning in open/close directions

Open/close

directions

Finger attachment

Affixing bolt

Shoulder contact surface

Positioning in vertical directions

Vertical

directions

Finger

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.

2. Installation

76

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.

● GRHM/GRHB

Positioning pin

Finger attachment

Affixing bolt

Positioning pin

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.

2. Installation

77

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.

● GRST

Open/close directions

Vertical directions

Finger

Shoulder contact surface

Positioning in vertical directions

Positioning pin

Affixing bolt

Positioning in open/ close directions

Finger attachment

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.

2. Installation

78

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.

● GR3SS/GR3SM

Finger

Positioning pin

Positioning in open/close directions

Open/close

directions

Finger attachment

Affixing bolt

Shoulder contact surface

Positioning in vertical directions

Vertical

directions

Shoulder contact surface

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.

2. Installation

79

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.

● GR3LS/GR3LM

Positioning pin

Open/close

directions

Shoulder contact surface

Positioning in vertical directions

Vertical

directions

Shoulder contact surface

Positioning in vertical directions

Finger attachment

Finger

Stopper contact surface Positioning in longitudinal directions

Home return direction

(Offset)

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

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

Longitudinal directions

Positioning in longitudinal directions

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.

3. Connecting with the Controller

80

3. Connecting with the Controller

Use the IAI dedicated connection cable for the connection of the actuator to the controller.

• If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius.

• Do not cut and reconnect the dedicated connection cable for extension or shorten the cable.

• Do not pull on the dedicated connection cable or bend it forcibly.

• The actuator cable is for fixed use. Fix the cable so it would not be bent repeatedly.

Please consult with IAI if you require a different kind of cable than the one supplied.

RCP2-Gripper

Dedicated connection cable (

Connect RCP2 with the dedicated controller)

Dedicated controller

• PSEL

• PCON (Except for PCON-CA)

Dedicated connection cable

GRSS/GRLS

GRS/GRM/GR3SS/GR3SM/GRLS/GRLM

• Motor • Encoder Integrated Cables : CB-PCS-MPA□□□

*) □□□ indicates the cable length. Up to 20m can be specified.

Example) 080 = 8m

• CB-PCP2-PB□□□

Standard cable

r=42mm or more (Movable Use), r=28mm or more (Fixed Use)

r=68mm or more (Movable Use), r=34mm or more (Fixed Use)

r=54mm or more (Movable Use)

r = 75mm or more (Fixed Use)

r

Robot cable

• CB-RCP2-MA□□□

• CB-RCP2-PB□□□-RB

• CB-PCS-MPA□□□

• Motor cable : CB-RCP2-MA□□□

• Encoder cable : CB-RCP2-PB□□□

• Encoder robot cable : CB-RCP2-PB□□□-RB

(Note) The bending radius of CB-PCS-MPA□□□ is that after the cables have changed. The value before changing is different.

3. Connecting with the Controller

81

RCP2 Gripper

Dedicated connection cable (

Connect

RCP2

with the dedicated controller

)

Dedicated controller

• PCON-CA

• MSEP

• PMEC

• PSEP

Dedicated connection cable

RCP2-GRSS/GRLS

GRS/GRM/GR3SS/GR3SM/GR3LS/GR3LM

• Motor • Encoder Integrated Robot Cables : CB-APSEP-MPA□□□

• Motor • Encoder Integrated Cables : CB-APSEP-MPA□□□-LC

*) □□□ indicates the cable length. Up to 20m can be specified.

Example) 080 = 8m

r=68mm or more (Movable Use), r=34mm or more (Fixed Use) r=68mm or more (Movable Use), r=34mm or more (Fixed Use)

r

Robot cable

• CB-APSEP-MPA□□□

• CB-PSEP-MPA□□□-RB

• Motor • Encoder Integrated Robot Cables : CB-PSEP-MPA□□□

• CB-APSEP-MAP□□□-LC

Standard cable

r = 34mm or more (Fixed Use)

3. Connecting with the Controller

82

Warning: For wiring, please follow the warnings stated below. When constructing a system

as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.

• Use dedicated cables of IAI indicated in this instruction manual. Contact us if you wish to have a change to the specifications of the dedicated cables.

• Make sure to turn the power off in the process of power line or cable connection or

disconnection.

• Do not attempt to cut a dedicated cable with connectors on both ends to extend, shorten or re-joint it.

• Hold the dedicated cable to avoid mechanical force being applied to the terminals and

connectors.

• Use a cable pipe or duct to have an appropriate protection when there is a possibility of

mechanical damage on a dedicated cable.

• In case a dedicated cable is to be used at a moving part, make sure to lay out the cable without applying any force to pull the connector or extreme bend on the cable. Do not attempt to use the cable with a bending radius below the allowable value.

• Make certain that the connectors are plugged properly. Insufficient connection may cause

an operation error, thus it is extremely risky.

• Do not lay out the cables to where the machine runs over them.

• Pay attention to the cable layout so it would not hit peripherals during an operation. In

case it does, have an appropriate protection such as a cable track.

• When a cable is used hanging on the ceiling, prevent an environment that the cable swings with acceleration or wind velocity.

• Make sure there is not too much friction inside the cable storage equipment.

• Have a sufficient radius for bending, and avoid a bend concentrating on one point.

Steel Strap (Piano Wire)

Tie them up softly.

3. Connecting with the Controller

83

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

• Do not pull the cable with a strong force.

• Pay attention not to concentrate the twisting force to one point on a cable.

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

• When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much.

Do not use spiral tube in any position where cables are bent frequently.

3. Connecting with the Controller

84

• PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct.

Follow the instructions below when using a cable track.

• If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the supplier when storing the cable in the cable track.

• Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not tie them up. (Avoid tension being applied when the cables are bent.) Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.

Power line

I/O lines (flat cable)

Duct

4. Operation

85

4. Operation

4.1 Operation of the Fingers

[1] Movement Stroke

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

[2] Home Return Direction

The open side moving end of the finger is the home position. The home position is on the closing end for the home reversed type (NM).

Caution: Finger of GRSS becomes wider than the motor cover width (M) upon home return, so

watch out for interference with gripper bracket, etc.

Finger

Finger guide

Gripper bracket

Motor cover

M

[3] Position Indication

The movement distance from the home position of one finger to the closing side is the position value. (In the case of Two-finger Type : indication of max. position value = 1/2 of stroke)

[4] Indication of Speed and Acceleration

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. .

4. Operation

86

Finger

Home return

direction

Travel distance

per finger L1

1

L2

Travel distance

per finger L1

Finger

Home return

direction

6

L2

Finger

Distance from

center to finger

● Two-finger Type

GRSS GRLS

Stroke 8 mm 180°

Travel distance per side

L1/Angle

4 mm 90°

Distance between fingers

L2/Angle

Max. 13.5 mm/

Min. 5.5 mm

Max. 180°/

Min. 0°

GRM GRS

Stroke 14 mm 10 mm

Travel distance per side L1 7 mm 5 mm

Distance between fingers L2

Max. 15 mm/

Min. 1 mm

Max. 10 mm/

Min. 1 mm

GRHM GRHB

Stroke 32 mm 40 mm

Travel distance per side L1 16 mm 20 mm

Distance between fingers L2

Max. 33 mm/

Min. 1 mm

Max. 41 mm/

Min.1 mm

● Two-finger Long-stroke Type

GRST

Stroke 40, 60, 80, 100

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

Distance between fingers L2 Max. 106/ Min. 6

● Three-finger Type

GR3SM GR3SS

Stroke 7 mm 5 mm

Distance between fingers 4 mm to 11 mm 4 mm to 9 mm

4. Operation

87

4.2 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 Slim Two-finger Slide Type (GRSS)

● Small Slim Two-finger Lever Type (GRLS)

Turn the opening/closing screw clockwise

or remove the finger attachment on one side.

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

A-A

Affixing bolt M3

Finger attachment

● Small and Medium Two-finger Type (GRS/GRM)

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

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

Open directions

Finger attachment

Affixing bolt

Open/close screw Turn the screw counterclockwise using a screwdriver.

4. Operation

88

● Three-finger Type (GR3SS/GR3SM, GR3LS/GR3LM)

Remove one finger attachment.

Finger attachment

Affixing bolt

● Two-finger Long-stroke Type (GRST)

Open directions

Finger attachment

Open/close screw

Turn the screw counterclockwise using a screwdriver.

Affixing bolt

Caution:

• 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.

5. Maintenance and Inspection

89

5. Maintenance and Inspection

5.1 Inspection Items and Schedule

Perform maintenance and inspection at the intervals specified below. This schedule assumes that the actuator is operated eight hours a day. If the actuator is operated at a higher utilization, such as when the machine is used continuously day and night, reduce the inspection intervals accordingly.

Visual inspection of exterior Greasing Start-up inspection

{

After 1 month of operation

{

After 6 months of operation

{ {

After 1 year of operation

{

Every 6 months thereafter

{ {

Every 1 year

{

* 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

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.

Caution:

• 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.

5. Maintenance and Inspection

90

5.2 Visually Inspecting the Exterior

Visually check the exterior of the following items.

Actuator Loosening of actuator mounting screws Cables Scratches, connector engagement Overall Noise, vibration

5.3 Exterior Cleaning

• Clean the exterior surface as necessary.

• Wipe dirty areas using a soft cloth, etc.

• Do not blow highly compressed air onto the actuator, as it may cause dust to enter the actuator through

gaps between parts.

• Do not use petroleum-based solvent as it damages resin and coated surfaces.

• To remove stubborn stains, take neutral detergent or alcohol into a soft cloth, etc., and wipe the area

gently.

5.4 Grease Supply for Two-Fingered Small Slim Type, Small Type and Medium Type

5.4.1 Guide, Finger and Finger Guide

Applicable models for grease supply on fingers and finger guides : GRSS, GRS, GRM

[1] Applicable Greases

IAI uses the following grease in our plant.

Idemitsu Kosan Daphne Eponex Grease No. 2

Other companies also sell similar types of grease. For details, give the above grease name to the manufacturer you want to purchase from and ask what corresponding product they have available.

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

WAKO CHEMICAL, LTD. Spray Grease No. A161 or equivalent

5. Maintenance and Inspection

91

Finger

Finger guide

Open/close screw

Grease application

[2] How to Apply Grease

● Small Slim Two-finger Slide Type (GRSS)

● Small Slim Two-finger Lever Type (GRLS)

1) 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.

2) Using a grease spray gun, apply grease (on the 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.

3) Spread out the grease evenly on the fingers and finger

guides with hand for GRSS (for rust prevention treatment)

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.

5. Maintenance and Inspection

92

● Small and Medium Two-finger Type (GRS/GRM)

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 (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 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.

3) Spread out the grease evenly on the fingers and finger

guides with hand (for rust prevention treatment)

Caution:

• 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.

• 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.

Finger guide

Grease application

Open/close screw

Finger

5. Maintenance and Inspection

93

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

1) Use a flathead screwdriver to turn the opening/closing screw on side cover to move the fingers toward the stroke center.

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 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.

Caution:

• 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.

• 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.

Finger guide

Grease application

Open/close screw

Finger

5. Maintenance and Inspection

94

Guide cover L affixing screw

Open/close screw

5.5 Feed Screw Small and Medium Two-finger Type (GRS/GRM)

[1] Applicable Greases

IAI uses the following grease in our plant.

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.

WAKO CHEMICAL, LTD. Spray Grease No. A161 or equivalent

[2] How to Apply Grease

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

2) Turn the opening/closing screw on side cover L to move the fingers toward the closing side until the guide cover R/L affixing screws are visible.

ROBO Cylinder GRSS, GRS, GRLS, GRM, GRHM Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual