Iai-america RCP2W-GRLS User Manual

IAI America, Inc.ROBO CylinderRCP2 Actuator Gripper Type Standard SpecificationSmall Two-finger Slide Type: GRSSSmall Two-finger Lever Type: GRLSMediu

Dust-proof Specification [RCP2W-GRLS] ... 979899[RCP2-GRS] ...

9010. Specifications10.2 Cable Wiring Diagram10.2.1 Small Two-finger Slide Type (RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS),Small Two-finger Lever Type (RCP2

9110. Specifications10.2.2 Medium Two-finger Type (RCP2-GRS, RCP2-GRM), Three-finger Slide Type (RCP2-GR3SS, RCP2-GR3SM), Three-finger Lever Type (RC

9210. Specifications10.3 External Dimensions [RCP2-GRSS] depth 4 depth 3 (Same on opposite side)(Same on opposite side)depth 5 depth 3 (Same on oppos

9310. SpecificationsCleanroom Specification [RCP2CR-GRSS](Same on opposite side) depth 3 (Same on opposite side)depth 5 (Same on opposite side)depth 3

9410. SpecificationsWeight [kg] 0.2Dust-proof Specification [RCP2W-GRSS](Same on opposite side) depth 3 (Same on opposite side)depth 3 (Same on opposi

9510. SpecificationsWeight [kg] 0.2depth 3 (Same on opposite side)(Same on opposite side)(Same on opposite side)(Same on opposite side)(Same on opposi

9610. SpecificationsWeight [kg] 0.2Cleanroom Specification [RCP2CR-GRLS]depth 2.5 (Same on opposite side), through depth 3 depth 3 (Same on opposite

9710. SpecificationsWeight [kg] 0.2Dust-proof Specification [RCP2W-GRLS] depth 3 (Same on opposite side)depth 3 (Same on opposite side)depth 5 (Same o

9810. SpecificationsWeight [kg] 0.36[RCP2-GRS] depth 2.5(Same on opposite side)(Same on opposite side) depth 7 depth 2.5depth 6 depth 2.5(Same on oppo

9910. SpecificationsWeight [kg] 0.5[RCP2-GRM] (Same on opposite side) (Same on opposite side) (Same on opposite side) depth 2.5depth 2.5depth 2.5 dept

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

10010. Specifications[RCP2-GRHM] 4-M4, depth 6 2-4depth 5 4depth 5 (Same on opposite side) depth10 (Same on opposite side) depth 8 long hole depth 5 (

10110. SpecificationsWeight [kg] 1.5[RCP2-GRHB] 4-M4, depth 6 2- 4depth 5 5H7depth 6 (Same on opposite side) depth12 (Same on opposite side) long hol

10210. Specifications(Same on opposite side) depth 5 depth 6 (Same on opposite side) depth 3 (Same on opposite side) depth 3 depth 3 depth 3 depth 5 d

10310. SpecificationsWeight [kg] 0.6[RCP2-GR3SS] M8 (Effective depth 6) (Same on back side) depth 5 depth 3 depth 3 depth 8  9 counterbore, de

10410. Specifications[RCP2-GR3SM] (Same on opposite side) (Same on back side) Installation surface 3-M5 (Effective depth 7)depth 6 depth 3 depth 12

10510. SpecificationsWeight [kg] 0.6[RCP2-GR3LS] (Same on opposite side) (Same on back side) 3-M4 (Effective depth 6)depth 3 depth 8 depth 3 (Effectiv

10610. Specifications[RCP2-GR3LM] (Same on opposite side) depth 3 depth 12 depth 3 (Same on back side) (Effective depth 4) Installation surface (Same

10711. Appendix11. Appendix 11.1 Notes on Use Regarding the Gripping Force Upon using, the following conditions must be satisfied. 11.1.1 Slide Typ

10811. AppendixStep 2 : Check the allowable vertical loads and allowable moments of the finger Check the vertical loads and moments applied to the fi

10911. Appendix(1) Moment generating around the finger due to the gripping force [1] Ma moment [MIa]• Two-finger type • Three-finger type FG: Grippi

2No.Operation Description Description 2 Transportation  When carrying a heavy object, do the work with two or more persons or utilize equipment su

11011. AppendixNote 1: The upper limits of LG and HG shall conform to the graph below. If they exceed the limit ranges specified, an excessive moment

11111. Appendix11.1.2 Lever Type Step 1: Check the required gripping force and work part mass that can be transferred Step 2: Check the inertia

11211. AppendixConfirm that the value calculated above is equal to or less than the applicable allowable load moment in Table 2. Step 3: Check the ex

11311. AppendixModel Maximum allowable load torqueTmax [N m] RCP2-GRLS 0.05 RCP2-GR3LS 0.1 RCP2-GR3LM 0.3 (1) Allowable thrust load Use the actuator i

11411. Appendix11.2 Notes on Transferring Work Parts If the fingers receive a strong force or impact other than the gripping force when transferrin

11511. Appendix 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

11612. Warranty12. Warranty 12.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company

11712. Warranty12.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with anoth

118Change HistoryChange HistoryRevision Date Description of Revision November 2008 Fifth edition Descriptions for the following grippers have been a

3No.Operation Description Description (2) Cable Wiring  Use our company’s genuine cables for connecting between the actuator and controller, and for

Manual No.: ME3627-10A (March 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.C

4No.Operation Description Description 4 Installation and Start (4) Safety Measures  When the work is carried out with 2 or more persons, make it cle

5No.Operation Description Description 6 Trial Operation  When the work is carried out with 2 or more persons, make it clear who is to be the leader

6No.Operation Description Description 8 Maintenance and Inspection  When the work is carried out with 2 or more persons, make it clear who is to be

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Handling Precautions 1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. Do not set speeds and acc

91. Names of Gripper Parts1. Names of Gripper Parts The name of each part of the gripper is shown below. 1.1 Small Two-finger Slide Type (Standard)

101. Names of Gripper PartsSuction jointMotor coverFrameFingerM cablePG cableMotor cover lidLeftRearFrontRightFinger1.2 Small Two-finger Slide Type

111. Names of Gripper Parts1.3 Small Two-finger Slide Type (Dust-proof Specification) (RCP2W-GRSS) Motor coverFrameFingerM cablePG cableMotor cover l

121. Names of Gripper Parts1.4 Small Two-finger Lever type (Standard) (RCP2-GRLS) Lever LOpen/closescrewLever RMotor coverFrameM cablePG cableLeftRea

131. Names of Gripper Parts1.5 Small Two-finger Lever type (Cleanroom Specification) (RCP2CR-GRLS) Suction jointMotor coverFingerM cablePG cableMotor

141. Names of Gripper Parts1.6 Small Two-finger Lever type (Dust-proof Specification) (RCP2W-GRLS) Motor coverFingerM cablePG cableMotor cover lidLef

151. Names of Gripper Parts1.7 Medium Two-finger Type (RCP2-GRS/GRM) Open/close screwSide cover LLeftActuator cable FrameFinger LFinger guideGuide co

161. Names of Gripper Parts1.8 Two-finger Type with High Gripping Force (RCP2-GRHM/GRHB) Open/close screwSide coverLeftFrameSide cover RRearFrontFing

171. Names of Gripper Parts1.9 Two-finger Long-stroke Type (RCP2-GRST) Open/close screwSide cover PLeftActuator cable FrameFinger LRightFinger RSide

181. Names of Gripper Parts1.10 Three-finger Slide Type (RCP2-GR3SS/GR3SM) Rear coverOpen/close screwMain coverLeftActuator cableFrameFinger AMotor c

191. Names of Gripper Parts1.11 Three-finger Lever Type (RCP2-GR3LS/GR3LM) Rear coverOpen/close screwLeftActuator cableFrameFinger ARightFinger CFing

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this pr

202. Checking the Product2. Checking the Product If based on a standard configuration, this product consists of the items listed below. Caution: Che

212. Checking the Product2.4 How to Read the Model Number <Series>Standard specification RCP2Cleanroom specification RCP2CR Dust-proof specific

223. Installation Environment, Storage Environment3. Installation Environment, Storage Environment 3.1 Installation Environment Install the gripper i

234. Installation Method4. Installation Method 4.1 Installing the Gripper The surface on which the gripper is installed must be machined or otherwise

244. Installation Method(Same on opposite side) depth 3 (Same on opposite side)(Same on opposite side) (Same on opposite side)depth 3 depth 5 depth 5

254. Installation Method[RCP2-GRLS, RCP2W-GRLS] The actuator can be mounted and affixed on five surfaces. Warning Caution  Some of the tapped ho

264. Installation Method[RCP2CR-GRLS] The cleanroom specification structurally allows installation on four surfaces. Installation is not possible on

274. Installation Method[RCP2-GRS] Warning Caution  Some of the tapped holes used for installing the gripper are through holes. Therefore, never

284. Installation Method[RCP2-GRM] Warning Caution  Some of the tapped holes used for installing the gripper are through holes. Therefore, never

294. Installation Method[RCP2-GRHM] Warning Caution  Some of the tapped holes used for installing the gripper are through holes. Therefore, neve

NoteGreasing Actuators of Cleanroom Specification For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising type for clea

304. Installation Method[RCP2-GRHB] Warning Caution  Some of the tapped holes used for installing the gripper are through holes. Therefore, neve

314. Installation Method[RCP2-GRST] The actuator is structured in such a way that it can be secured on one of its three sides. Warning Caution 

324. Installation Method[RCP2-GR3SS] Warning Caution  Some of the tapped holes used for installing the gripper are through holes. Therefore, nev

334. Installation Method[RCP2-GR3SM] Warning Caution  Some of the tapped holes used for installing the gripper are through holes. Therefore, nev

344. Installation Method[RCP2-GR3LS] Warning Caution  Some of the tapped holes used for installing the gripper are through holes. Therefore, nev

354. Installation Method[RCP2-GR3LM] Warning Caution  Some of the tapped holes used for installing the gripper are through holes. Therefore, nev

364. Installation Method4.2 Gripper Brackets (Optional) Optional brackets that can be installed on the rear face of the gripper are available. The ex

374. Installation Method[RCP2-GRS] Shaft bracket Flange bracket [RCP2-GRM] Shaft bracket Flange bracket 

384. Installation Method[RCP2-GRHM] Shaft bracket Flange bracket [RCP2-GRHB] Shaft bracket Flange bracket

394. Installation Method[RCP2-GR3SS/GR3LS] Shaft bracket Flange bracket [RCP2-GR3SM/GR3LM] Shaft bracket Flange bracket depth 25 depth 25 

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

404. Installation Method4.3 Installation of Finger Attachments The finger attachments are provided by the customer.  Installation dimensions for fin

414. Installation Method[RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS] depth 2.54-M4, through

424. Installation Method[RCP2-GRS] [RCP2-GRM] depth 8 depth 8

434. Installation Method[RCP2-GRHM] [RCP2-GRHB] 4-M4, depth 64-M4, depth 6depth 5 depth 5 HomeHomeHomeHomeDo not use the screw holes at the center of

444. Installation Method[RCP2-GRST] depth 5 depth 3

454. Installation Method[RCP2-GR3SS] [RCP2-GR3SM] depth 5 depth 6 

464. Installation Method[RCP2-GR3LS] [RCP2-GR3LM] 

474. Installation Method Positioning in open/close and vertical directions To achieve higher installation precision and repeatability for finger att

484. Installation Method[RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS] Warning Caution  When installing or removing an attachment to/from a finger, tighte

494. Installation MethodTo achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachme

504. Installation MethodTo achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachme

514. Installation Method[RCP2-GRST] Warning Caution  When installing or removing the attachment to/from the finger, tighten the screw while hold

524. Installation Method[RCP2-GR3SS/GR3SM] Warning Caution  When installing or removing the attachment to/from the finger, tighten the screw whi

534. Installation Method[RCP2-GR3LS/GR3LM] Warning Caution  When installing or removing the attachment to/from the finger, tighten the screw whi

545. Cable Connection5. Cable Connection 5.1 Connecting the Controller Plug the connector attached at the end of the gripper cable into the controlle

555. Cable Connection Do not pinch, drop a heavy object onto or cut the cable.  When fixing the cable, provide a moderate slack and do not tension

565. Cable ConnectionSignal lines (flat cable) Do not cause the cables to occupy more than 60% of the space in the cable track.  Do not lay signal

576. Notes on UseMotor coverFingerGripper bracketFinger guide6. Notes on Use 6.1 Finger Operation  Finger stroke The design stroke of the two-finger

586. Notes on UseFingerHome return directionTravel distance per finger L1 Travel distance per finger L1 FingerHome return direction[Two-finger Type]RC

596. Notes on Use6.2 Removal of Gripped Work Part This gripper is structured in such a way that the work part-gripping force will be maintained by me

Table of Contents Safety Guide...

606. Notes on UseOpen directionsFinger attachmentOpen/close screw Turn the screw counterclockwise using a screwdriver. Affixing bolt[Three-finger Type

616. Notes on Use6.3 Adjustment of Gripping Force The gripping force is freely adjustable via push-motion setting within a range of 20 to 70% of the

626. Notes on Use[Medium Two-finger Type (RCP2-GRS/GRM)] Gripping pointGripping force (N)Gripping force (N)Current-limiting value (%) Current-limitin

636. Notes on Use[Two-finger Type with High Gripping Force (RCP2-GRHM, GRHB)] Caution Note  IAI does not guarantee the precision of relationship

646. Notes on UseGripping force (N)Gripping force (N)Current-limiting value (%) Current-limiting value (%) Standard type High-speed type [Two-finger

656. Notes on Use[Three-finger Slide Type (RCP2-GR3SS/GR3SM)] Gripping point LGripping force (N)Gripping force (N)Current-limiting value (%) Current-

666. Notes on Use[Three-finger Lever Type (RCP2-GR3LS/GR3LM)] * The above values are calculated at a gripping point of 10 mm. The actual gripping for

676. Notes on Use6.4 Guide to Determining Maximum Work Part The maximum work part mass that can be transferred by the gripper will vary depending on

686. Notes on Use6.6 Notes on Transferring Work Parts When the gripper is used to transfer work parts, allowing a strong force or impact to apply to

697.Cleanroom Specification (RCP CR-GRSS, RCP CR-GRLS)7. Cleanroom Specification (RCP2CR-GRSS, RCP2CR-GRLS) 7.1 About the Suction Amount To use as c

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

709. Maintenance/Inspection9. Maintenance/Inspection Daily and periodic inspections are essential to making sure your gripper will operate safely and

719. Maintenance/Inspection9.2 Visual Inspection of the Exterior In the visual inspection of the exterior, check the following items. Gripper Loosen

729. Maintenance/InspectionCoverCover(2) How to apply grease [Small Two-finger Slide Type (RCP2-GRSS, RCP2W-GRSS)] [Small Two-finger Lever Type (RCP2

739. Maintenance/Inspection[Medium Two-finger Type (RCP2-GRS/GRM)] [1] Use a flathead screwdriver to turn the opening/closing screw on side cover L t

749. Maintenance/Inspection[Two-finger Type with High Gripping Force (RCP2-GRHM, GRHB)] [1] Use a flathead screwdriver to turn the opening/closing sc

759. Maintenance/InspectionFinger Finger guide Open/close screwGrease applicationCoverSmall two-finger slide type (RCP2CR-GRSS) 9.4.2 Guide: Cleanroo

769. Maintenance/InspectionCover[4] Attach the rubber cover in the case of small two-finger slide type (RCP2CR-GRSS). Small two-finger slide type (

779. Maintenance/Inspection9.5 Feed Screw Medium Two-finger Type (RCP2-GRS/GRM) (1) Applicable grease The following grease is applied to the feed scr

789. Maintenance/Inspection[3] Remove screws affixing guide covers R and L (2 pieces on each side). Slide the guide covers horizontally to the openin

799. Maintenance/Inspection[6] Move the fingers to the closing side. Insert the guide covers from sides and affix with screws. Insert guide covers R

6. Notes on Use...6.1 Finger Oper

809. Maintenance/Inspection9.6 Two-finger Type with High Gripping Force (1) Applicable grease Synthetic poly- olefin grease has been charged to the

819. Maintenance/Inspection[2] Turn the opening/closing screw to move the fingers to their stroke ends on the closed side. [3] Use a grease syring

829. Maintenance/Inspection9.7 Greasing the Two-finger Long-stroke Type (RCP2-GRST) 9.7.1 Greasing to the Feed Screw (Worm/Rack Gears) (1) Applicabl

839. Maintenance/Inspection9.7.2 Greasing to the Guide (1) Applicable grease This actuator uses lithium grease No. 2. During maintenance, use spr

849. Maintenance/Inspection[3] Slide the top cover and pull it out.. [4] Spray grease into the gaps along the LM guide. Apply grease at a total of

859. Maintenance/InspectionWarning Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of grease wi

869. Maintenance/Inspection9.8 Greasing the Three-finger Gripper 9.8.1 Slide Type Greasing the Guide (1) Applicable grease The following grease is

879. Maintenance/Inspection9.8.2 Lever Type  Greasing the Gears (1) Applicable grease The following grease is applied to the gears before the grippe

8810. Specifications10. Specifications 10.1. Specification List Small two-finger type Medium two-finger type Slide type Lever type Slide type RCP2-

8910. SpecificationsLong-stroke typeSlide type RCP2-GRST (Gear ratio: 2.27) RCP2-GRST (Gear ratio: 1.05) Open/close stroke 40 mm (20 mm per finger)