robo cylinder rcp2 mj3627-6a - delta elektronik · robo cylinder rcp2 actuator gripper type small...

IAI America, Inc.

ROBO Cylinder RCP2 Actuator Gripper Type

Standard Specification Small Two-finger Slide Type: GRSS Small Two-finger Lever Type: GRLS Medium Two-finger Type: GRS / GRM Two-finger Long-stroke Type: GRST Three-finger Slide Type: GR3SS / GR3SM Three-finger Lever Type: GR3LS / GR3LM RCP2CR Actuator Gripper Type

Cleanroom Specification Small Two-finger Slide Type: GRSS Small Two-finger Lever Type: GRLS RCP2W Actuator Gripper Type

Dust-proof Specification Small Two-finger Slide Type: GRSS Small Two-finger Lever Type: GRLS

Sixth Edition

Operating Manual

Note

Greasing Actuators of Cleanroom Specification

For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising type for cleanroom applications. The grease specified in the maintenance/inspection sections of the Operating Manual is for actuators of standard specification. Using the grease for the standard actuators on the cleanroom actuators may generate dust.

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

Recommended grease: C Grease by Kuroda Precision Industries Ltd.

Thank you for purchasing an IAI product. To ensure safe use of the actuator, be sure to read this operating manual and handle the actuator correctly. Do not handle or operate the actuator in any way not specified in this operation manual or the operation manual of your controller, by assuming that any such handling/use is prohibited. [Applicable Models]

ROBO Cylinder RCP2 Actuator Gripper Type RCP2CR Actuator Gripper Type RCP2W Actuator Gripper Type

Items to Check after Unpacking After unpacking the gripper, check the condition of the product. Also check if all of the following items are included. Standard product

Gripper unit (including the relay cable) (1) Controller (1) Gripper operation manual (1) Controller operation manual (CD) (1)

• Unauthorized copy, duplication or reproduction of the information provided in this manual, whether in whole or part, is strictly prohibited.

• The information provided in this manual is subject to change without prior notice for the purpose of improvement.

• This manual has been written with due attention to accuracy and completeness. Should you find any error or if you have any feed back, please contact IAI.

Safety Precautions (Read This Section Before Use)

When designing and manufacturing a robot system, ensure safety by following the safety precautions provided below and taking the necessary measures. 1. Regulations and Standards Governing Industrial Robots Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:

Safety measures Inherent safety design Protective guards --- Safety fence, etc. Additional safety measures --- Emergency stop device, etc. Information on use --- Danger sign, warnings, operation manual

Based on this classification, various standards are established in a hierarchical manner under the International Standards ISO/IEC. The safety standards that apply to industrial robots are as follows: Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)

JIS B 8433 (Manipulating industrial robots – Safety)

Also, Japanese laws regulate the safety of industrial robots, as follows: Industrial Safety and Health Law Article 59

Workers engaged in dangerous or harmful operations must receive special education. Ordinance on Industrial Safety and Health Article 36 --- Operations requiring special education

No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots (exceptions apply)

No. 32 (Inspection, etc.) --- Inspection, repair, adjustment and similar work involving industrial

robots (exceptions apply) Article 150 --- Measures to be taken by the user of an industrial robot

2. Requirements for Industrial Robots under Ordinance on Industrial Safety and Health

Work area Work condition Cutoff of drive source Measure Article

Signs for starting operation Article 104 Outside movement

range

During automatic operation

Not cut off Installation of railings, enclosures, etc. Article 150-4

Cut off (including stopping of operation)

Sign, etc., indicating that work is in progress Article 150-3

Preparation of work rules Article 150-3

Measures to enable immediate stopping of operation Article 150-3


Provision of special education Article 36-31

During teaching, etc.

Not cut off

Checkup, etc., before commencement of work Article 151

To be performed after stopping the operation Article 150-5

Cut off Sign, etc., indicating that work is in progress Article 150-5

Preparation of work rules Article 150-5

Measures to enable immediate stopping of operation Article 150-5


Inside movement

range

During inspection, etc. Not cut off (when

inspection, etc., must be performed during operation)

Provision of special education (excluding cleaning and lubrication)

Article 36-32

3. Applicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340):

(1) Single-axis robot with a motor wattage of 80 W or less (2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating

part, if any, has the maximum movement range of within 300 mm3 including the tip of the rotating part

(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm Among the products featured in our catalogs, the following models are classified as industrial robots: 1. Single-axis ROBO Cylinders

RCS2/RCS2CR-SS8 whose stroke exceeds 300 mm 2. Single-axis robots

The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W: ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS

3. Linear servo actuators All models whose stroke exceeds 300 mm

4. Cartesian robots Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3

5. IX SCARA robots IX-NNN (NNW, NNC) 3515 IX-NNN (NNNW, NNC) 50 /60 /70 /80 IX-NSN5016/6016 IX-TNN (UNN) 3015/3515 IX-HNN (INN) 50 /60 /70 /80

4. Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. Read this section together with the operation manual for each product. No. Task Note 1 Model selection This product is not planned or designed for uses requiring high degrees of safety. Accordingly, it cannot

be used to sustain or support life and must not be used in the following applications: [1] Medical devices relating to maintenance, management, etc., of life or health [2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities, etc.) intended to

move or transport people [3] Important safety parts in mechanical devices (safety devices, etc.)

Do not use this product in the following environments: [1] Place subject to flammable gases, ignitable objects, flammables, explosives, etc. [2] Place that may be exposed to radiation [3] Place where the surrounding air temperature or relative humidity exceeds the specified range [4] Place subject to direct sunlight or radiated heat from large heat sources [5] Place subject to sudden temperature shift and bedewing [6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.) [7] Place subject to excessive dust, salt or iron powder [8] Place where the product receives direct vibration or impact

Do not use this product outside the specified ranges. Doing so may significantly shorten the life of the product or result in product failure or facility stoppage.

2 Transportation When transporting the product, exercise due caution not to bump or drop the product. Use appropriate means for transportation. Do not step on the package. Do not place on the package any heavy article that may deform the package.

3 Storage The storage environment should conform to the installation environment. Among others, be careful not to cause bedewing.

(1) Installing the robot, controller, etc. Be sure to firmly secure and affix the product (including its load).

If the product tips over, drops, malfunctions, etc., damage or injury may result. Do not step on the product or place any article on top. The product may tips over or the article may

drop, resulting in injury, product damage, loss of/drop in product performance, shorter life, etc. If the product is used in any of the following places, provide sufficient shielding measures:

[1] Place subject to electrical noise [2] Place subject to a strong electric or magnetic field [3] Place where power lines or drive lines are wired nearby [4] Place subject to splashed water, oil or chemicals

(2) Wiring the cables Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. Do not damage, forcibly bend, pull, loop round an object or pinch the cables or place heavy articles on

top. Current leak or poor electrical continuity may occur, resulting in fire, electric shock or malfunction. Wire the product correctly after turning off the power. When wiring a DC power supply (+24 V), pay attention to the positive and negative polarities.

Connecting the wires in wrong polarities may result in fire, product failure or malfunction. Be sure to connect the cable connectors without fail and firmly. Failing to do so may result in fire,

electric shock or product malfunction. Do not cut and reconnect the cables of the product to extend or shorten the cables. Doing so may

result in fire or product malfunction.

4 Installation/ startup

(3) Grounding Be sure to provide class D (former class 3) grounding for the controller. Grounding is required to

prevent electric shock and electrostatic charges, improve noise resistance and suppress unnecessary electromagnetic radiation.

No. Task Note (4) Safety measures

Implement safety measures (such as installing safety fences, etc.) to prevent entry into the movement range of the robot when the product is moving or can be moved. Contacting the moving robot may result in death or serious injury.

Be sure to provide an emergency stop circuit so that the product can be stopped immediately in case of emergency during operation.

Implement safety measures so that the product cannot be started only by turning on the power. If the product starts suddenly, injury or product damage may result.

Implement safety measures so that the product will not start upon cancellation of an emergency stop or recovery of power following a power outage. Failure to do so may result in injury, equipment damage, etc.

Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc., during installation, adjustment, etc. If the power is accidentally turned on, electric shock or injury may result.

Implement measures to prevent the load, etc., from dropping due to a power outage or emergency stop.

Ensure safety by wearing protective gloves, protective goggles and/or safety shoes, as necessary. Do not insert fingers and objects into openings in the product. Doing so may result in injury, electric

shock, product damage, fire, etc. 5 Teaching Whenever possible, perform teaching from outside the safety fences. If teaching must be performed

inside the safety fences, prepare “work rules” and make sure the operator understands the procedures thoroughly.

When working inside the safety fences, the operator should carry a handy emergency stop switch so that the operation can be stopped any time when an abnormality occurs.

When working inside the safety fences, appoint a safety watcher in addition to the operator so that the operation can be stopped any time when an abnormality occurs. The safety watcher must also make sure the switches are not operated inadvertently by a third party.

Put up a sign saying “WORK IN PROGRESS” in a conspicuous location. * Safety fences --- Indicate the movement range if safety fences are not provided.

6 Confirmation operation

After teaching or programming, carry out step-by-step confirmation operation before switching to automatic operation.

When carrying out confirmation operation inside the safety fences, follow the specified work procedure just like during teaching.

When confirming the program operation, use the safety speed. Failure to do so may result in an unexpected movement due to programming errors, etc., causing injury.

Do not touch the terminal blocks and various setting switches while the power is supplied. Touching these parts may result in electric shock or malfunction.

7 Automatic operation

Before commencing automatic operation, make sure no one is inside the safety fences. Before commencing automatic operation, make sure all related peripherals are ready to operate in the

auto mode and no abnormalities are displayed or indicated. Be sure to start automatic operation from outside the safety fences. If the product generated abnormal heat, smoke, odor or noise, stop the product immediately and turn

off the power switch. Failure to do so may result in fire or product damage. If a power outage occurred, turn off the power switch. Otherwise, the product may move suddenly

when the power is restored, resulting in injury or product damage. 8 Maintenance/

inspection Whenever possible, work from outside the safety fences. If work must be performed inside the safety

fences, prepare “work rules” and make sure the operator understands the procedures thoroughly. When working inside the safety fences, turn off the power switch, as a rule. When working inside the safety fences, the operator should carry a handy emergency stop switch so

that the operation can be stopped any time when an abnormality occurs. When working inside the safety fences, appoint a safety watcher in addition to the operator so that the

operation can be stopped any time when an abnormality occurs. The safety watcher must also make sure the switches are not operated inadvertently by a third party.

Put up a sign saying “WORK IN PROGRESS” in a conspicuous location. Use appropriate grease for the guides and ball screws by checking the operation manual for each

model. Do not perform a withstand voltage test. Conducting this test may result in product damage.

* Safety fences --- Indicate the movement range if safety fences are not provided. 9 Modification The customer must not modify or disassemble/assemble the product or use maintenance parts not

specified in the manual without first consulting IAI. Any damage or loss resulting from the above actions will be excluded from the scope of warranty.

10 Disposal When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste.

When disposing of the product, do not throw it into fire. The product may explode or generate toxic gases.

Caution

• Failure to observe the cautionary instructions on installation may endanger the operators as well as bystanders. Incorrect installation may result in a serious accident or damage to the gripper.

5. Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “Note,” as specified below.

Level Degree of danger/loss Symbol

Danger Failure to observe the instruction will result in an imminent danger leading to death or serious injury. Danger

Warning Failure to observe the instruction may result in death or serious injury. Warning

Caution Failure to observe the instruction may result in injury or property damage. Caution

Note The user should take heed of this information to ensure the proper use of the product, although failure to do so will not result in injury.

Note

Handling precautions 1. Handling the Packed Gripper When transporting the packed gripper, exercise due caution not to apply impact on the package by dropping it or hitting it against other object. • When setting down the package temporarily, keep it horizontal. • Do not step onto the package. • Do not place on the package a heavy object that may deform the package or article of a shape that

allows the load to concentrate. 2. Handling the Unpacked Gripper Once the gripper is unpacked, handle the gripper by its frame. • When carrying the gripper, be careful not to hit it against structures and objects. In particular, pay

attention to the fingers and covers. • Do not apply excessive force on any part of the gripper. In particular, pay attention to the fingers and

cables. • When unpacking the gripper, exercise due caution not to drop the gripper. It may cause injury or

damage the machine. • Should you find any part of the gripper missing or damaged during transportation, please contact IAI’s

Sales Engineering Section without delay.

Table of Contents 1. Names of Gripper Parts.......................................................................................................... 1

1.1 Small Two-finger Slide Type (Standard) (RCP2-GRSS)...................................................... 1 1.2 Small Two-finger Slide Type (Cleanroom Specification) (RCP2CR-GRSS) ........................ 2 1.3 Small Two-finger Slide Type (Dust-proof Specification) (RCP2W-GRSS)........................... 3 1.4 Small Two-finger Lever type (Standard) (RCP2-GRLS)...................................................... 4 1.5 Small Two-finger Lever type (Cleanroom Specification) (RCP2CR-GRLS) ........................ 5 1.6 Small Two-finger Lever type (Dust-proof Specification) (RCP2W-GRLS) ........................... 6 1.7 Medium Two-finger Type (RCP2-GRS/GRM) ..................................................................... 7 1.8 Two-finger Long-stroke Type (RCP2-GRST) ...................................................................... 8 1.9 Three-finger Slide Type (RCP2-GR3SS/GR3SM)............................................................... 9 1.10 Three-finger Lever Type (RCP2-GR3LS/GR3LM) ..................................................... 10

2. Installation Environment, Storage Environment ................................................................... 11 2.1 Installation Environment ....................................................................................................11 2.2 Storage Environment .........................................................................................................11

3. Installation Method ............................................................................................................... 12 3.1 Installing the Gripper......................................................................................................... 12

• RCP2-GRSS, RCP2W-GRSS............................................................................................. 12

• RCP2CR-GRSS.................................................................................................................. 13

• RCP2-GRLS, RCP2W-GRLS.............................................................................................. 14

• RCP2CR-GRLS .................................................................................................................. 15

• RCP2-GRS ......................................................................................................................... 16

• RCP2-GRM......................................................................................................................... 17

• RCP2-GRST ....................................................................................................................... 18

• RCP2-GR3SS..................................................................................................................... 19

• RCP2-GR3SM .................................................................................................................... 20

• RCP2-GR3LS ..................................................................................................................... 21

• RCP2-GR3LM..................................................................................................................... 22

3.2 Gripper Brackets (Optional) .............................................................................................. 23 • RCP2-GRSS/GRLS, RCP2CR-GRSS/GRLS, RCP2W-GRSS/GRLS................................. 23

• RCP2-GRS ......................................................................................................................... 24

• RCP2-GRM......................................................................................................................... 24

• RCP2-GR3SS/GR3LS ........................................................................................................ 25

• RCP2-GR3SM/GR3LM....................................................................................................... 25

3.3 Installation of Finger Attachments..................................................................................... 26

• Installation dimensions for finger attachments ............................................................. 26

• RCP2-GRSS....................................................................................................................... 26

• RCP2CR-GRSS/ RCP2W-GRSS........................................................................................ 26

• RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS.................................................................. 27

• RCP2-GRS ......................................................................................................................... 28

• RCP2-GRM......................................................................................................................... 28

• RCP2-GRST ....................................................................................................................... 29

• RCP2-GR3SS..................................................................................................................... 30

• RCP2-GR3SM .................................................................................................................... 30

• RCP2-GR3LS ..................................................................................................................... 31

• RCP2-GR3LM..................................................................................................................... 31

• Positioning in open/close and vertical directions.......................................................... 32

• RCP2-GRSS....................................................................................................................... 32

• RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS.................................................................. 33

• RCP2-GRS/GRM................................................................................................................ 34

• RCP2-GRS/GRM................................................................................................................ 35

• RCP2-GR3SS/GR3SM ....................................................................................................... 36

• RCP2-GR3LS/GR3LM........................................................................................................ 37

4. Cable Connection................................................................................................................. 38 4.1 Connecting the Controller ................................................................................................. 38 4.2 Checks after Installation.................................................................................................... 40

5. Notes on Use........................................................................................................................ 41 5.1 Finger Operation............................................................................................................... 41 5.2 Removal of Gripped Work................................................................................................. 43 5.3 Adjustment of Gripping Force ........................................................................................... 45 5.4 Guide to Determining Maximum Load .............................................................................. 50 5.5 Distance between Finger Attachment and Gripping Point, and Finger Shape .................. 50 5.6 Notes on Transferring Works ............................................................................................ 51

6. Cleanroom Specification (RCP2CR-CRSS, RCP2CR-GRLS) ............................................. 52 6.1 About the Suction Amount ................................................................................................ 52

7. Dust-proof Specification (RCP2W-GRSS, RCP2W-GRLS).................................................. 52 7.1 About the Dust-proof Capability ........................................................................................ 52

8. Maintenance/Inspection ....................................................................................................... 53 8.1 Inspection Items and Timings ........................................................................................... 53 8.2 Visual Inspection of the Exterior ....................................................................................... 54 8.3 Exterior Cleaning .............................................................................................................. 54

8.4 Greasing the Two-finger Gripper....................................................................................... 54

8.4.1 Guide: Excluding Cleanroom Specification........................................................................ 54 8.4.2 Guide: Cleanroom Specification ........................................................................................ 57

8.5 Feed Screw Medium Two-finger Type (RCP2-GRS/GRM) ............................................... 59 8.6 Greasing the Two-finger Long-stroke Type (RCP2-GRST) ............................................... 62

8.6.1 Greasing to the Feed Screw (Warm/Rack Gears) ............................................................. 62 8.6.2 Greasing to the Guide........................................................................................................ 63

8.7 Greasing the Three-finger Gripper.................................................................................... 66 8.7.1 Slide Type .......................................................................................................................... 66 8.7.2 Lever Type ......................................................................................................................... 67

9. Specifications ....................................................................................................................... 68 9.1. Specification List........................................................................................................ 68 9.2 Cable Wiring Diagram....................................................................................................... 70

9.2.1 Small Two-finger Slide Type (RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS), Small Two-finger Lever Type (RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS) Two-finger Long-stroke type (RCP2-GRST)...................................................................... 70

9.2.2 Medium Two-finger Type (RCP2-GRS, RCP2-GRM), Three-finger Slide Type (RCP2-GR3SS, RCP2-GR3SM), Three-finger Lever Type (RCP2-GR3LS, RCP2-GR3LM) ................................................. 71

9.3 External Dimensions......................................................................................................... 72 • RCP2-GRSS....................................................................................................................... 72

• RCP2CR-GRSS.................................................................................................................. 73

• RCP2W-GRSS.................................................................................................................... 74

• RCP2-GRLS ....................................................................................................................... 75

• RCP2CR-GRLS .................................................................................................................. 76

• RCP2W-GRLS.................................................................................................................... 77

• RCP2-GRS ......................................................................................................................... 78

• RCP2-GRM......................................................................................................................... 79

• RCP2-GRST ....................................................................................................................... 80

• RCP2-GR3SS..................................................................................................................... 81

• RCP2-GR3SM .................................................................................................................... 82

• RCP2-GR3LS ..................................................................................................................... 83

• RCP2-GR3LM..................................................................................................................... 84

10. Warranty ............................................................................................................................... 85 10.1 Warranty Period......................................................................................................... 85 10.2 Scope of Warranty..................................................................................................... 85

Revision History................................................................................................................................. 86

1

1. Names of Gripper Parts The name of each part of the gripper is shown below. 1.1 Small Two-finger Slide Type (Standard) (RCP2-GRSS)

Motor cover

Frame

Finger guide

Finger Open/close screw

M cable

PG cable

Motor cover lid

Left

Rear Front

Right

Finger

2

Suction joint

Motor cover

Frame

Finger

M cable

PG cable

Motor cover lid

Left

Rear Front

Right

Finger

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

3

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

Motor cover

Frame

Finger

M cable

PG cable

Motor cover lid

Left

Rear Front

Right

Finger

4

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

Lever L

Open/close screw

Lever R

Motor cover

Frame

M cable

PG cable

Left

Rear Front

Right

5

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

Suction joint

Motor cover

Finger

M cable

PG cable

Motor cover lid

Left

Rear Front

Right Lever R

Lever L

6

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

Motor cover

Finger

M cable

PG cable

Motor cover lid

Left

Rear Front

Right

Lever R

Lever L

7

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

Open/close screw

Side cover L Left

Actuator cable

Frame

Finger L Finger guide

Guide cover L

Right

Guide cover R

Finger R

Side cover R

RearFront

8

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

Open/close screw

Side cover P

Left

Actuator cable

Frame

Finger L

Right

Finger R

Side cover C Rear

Front

Top cover

9

1.9 Three-finger Slide Type (RCP2-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

RearFront

Close direction Open direction

10

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

Rear cover

Open/close screw

Left

Actuator cable

Frame

Finger A Right

Finger C

Finger B

Front cover

Main cover Motor cover

RearFront

Close direction Open direction

Top

Bottom

11

2. Installation Environment, Storage Environment 2.1 Installation Environment Install the gripper in an environment meeting the conditions listed below. • Not be exposed to direct sunlight. • Be free from irradiating heat coming from a heat treatment furnace or other equipment that generates a

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

RCP2W-GRSS and RCP2W-GRLS.) • Be free from oil mist or cutting oil. • Be free from impact or vibration. • Be free from strong electromagnetic waves, ultraviolet light or radiation. • Be free from chemicals that may affect the gripper. Chemical resistance is not considered in the design

of this product. In general, the gripper should be used in an environment where the operators can work without wearing any protective equipment or gear. 2.2 Storage Environment The storage environment should basically conform to the installation environment. If the gripper is to be stored for an extended period of time, provide appropriate measures to prevent dew condensation. The gripper is not packed with drying agent, unless otherwise specified by the user. If the gripper is to be stored in an environment where dew condensation may occur, take appropriate measures to protect the entire package, or the gripper itself (after unpacking it), from the detrimental effects of dew condensation. The gripper can withstand a surrounding air temperature of up to 60°C for a short period. If the gripper must be stored for over a month, keep the surrounding air temperature at 50°C or below.

12

3. Installation Method 3.1 Installing the Gripper

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

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

Determine the lengths of screws to be used by referring to the figure below. (Never use long screws exceeding the effective thread depth. They may damage the mechanical or electrical parts inside the gripper.)

• Round and elongated holes are provided in each mounting surface for receiving positioning pins. Use these holes as necessary.

[RCP2-GRSS, RCP2W-GRSS] The actuator can be mounted and affixed on five surfaces. Warning Caution

• Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long screws exceeding the effective thread length. They may damage the mechanical or electrical parts inside the gripper.

depth 3

(Same on opposite side)

depth 3

(Same on opposite side) depth 3


depth 5 (Same on opposite side)

depth 3


depth 5 (Same on opposite side)depth 3


depth 5

depth 3

13


depth 3




depth 3

depth 5 depth 5

depth 3 depth 3

depth 3

depth 3

depth 5

[RCP2CR-GRSS] The cleanroom specification structurally allows installation on four surfaces. Installation is not possible on the top surface due to the suction joint.

14

[RCP2-GRLS, RCP2W-GRLS] The actuator can be mounted and affixed on five surfaces. Warning Caution


depth 3




depth 3 depth 3

depth 3 depth 5

depth 5

depth 5


(Same on opposite side) (Same on opposite side)

15

[RCP2CR-GRLS] The cleanroom specification structurally allows installation on four surfaces. Installation is not possible on the top surface due to the suction joint.


depth 3 depth 3

depth 5


depth 5

depth 5


depth 3


depth 3


16

depth 6

Installation surface

Installation surface depth 2.5

depth 7

depth 2.5

depth 2.5

dept

h 2.

5

Inst

alla

tion

surfa

ce

(Same on back side)

(Same on back side)

Rear

[RCP2-GRS] Warning Caution


(Same on back side)

17

[RCP2-GRM] Warning Caution



(Same on back side)


depth 2.5

depth 7

depth 2.5

depth 2.5

depth 6

dept

h 2.

5

Inst

alla

tion

surfa

ce

(Same on back side)

(Same on back side)

Rear

18

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


depth 6

(Same on back side)

depth 3

(Same on back side) Installation

surface dept

h 3

Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce

(Sam

e on

bac

k si

de)

depth 5 depth 3

depth 3

Stroke

Rear

19

[RCP2-GR3SS] Warning Caution


depth 3

depth 8

depth 3

Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce

(Same on back side)

(Same on back side)

(Same on back side)

Rear

(Use holes in the flange)

Detail view of A (2:1)

3-M4 (Effective depth 6) Blank plug (Set screw M4 x 5)

(Note) If the gripper is installed from the rear side, remove the blank plugs from the tapped holes.

20

[RCP2-GR3SM] Warning Caution



depth 3

depth ３

Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce (Same on back

side)

(Same on back side)

(Same on back side)

Rear

(Use holes in the flange) Detail view of A (2:1)

3-M5 (Effective depth 7) Blank plug (Set screw M5 x 6) 4-M6 depth 12

Inst

alla

tion

surfa

ce

21

[RCP2-GR3LS] Warning Caution



Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce

depth 3

depth 8

depth 3

(Same on back side)

(Same on back side)

Rear




(Same on back side)

22

[RCP2-GR3LM] Warning Caution



Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce

Inst

alla

tion

surfa

ce Inst

alla

tion

surfa

ce

depth 3

depth 3

(Same on back side)

(Same on back side)

Rear




(Same on back side)

depth 12

23

3.2 Gripper Brackets (Optional) Optional brackets that can be installed on the rear face of the gripper are available. The external dimensions of each optional bracket are shown below. [RCP2-GRSS/GRLS, RCP2CR-GRSS/GRLS, RCP2W-GRSS/GRLS]

* 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. Relief

Shaft end structure

Shaft bracket Flange bracket

24

[RCP2-GRS]

Shaft bracket Flange bracket [RCP2-GRM]


25

[RCP2-GR3SS/GR3LS]

Shaft bracket Flange bracket [RCP2-GR3SM/GR3LM]


dept

h 25

de

pth

25

26





depth 3

depth 5

depth 3

depth 3

depth 5

depth 3

3.3 Installation of Finger Attachments The finger attachments are provided by the customer. • Installation dimensions for finger attachments

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

depth 4

27

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

depth 2.5

4-M4, through

28

[RCP2-GRS] [RCP2-GRM]

depth 8

depth 8

29

[RCP2-GRST]

depth 5

depth 3

30

[RCP2-GR3SS] [RCP2-GR3SM]

depth 5

depth 6

31

[RCP2-GR3LS] [RCP2-GR3LM]

32

• Positioning in open/close and vertical directions

To achieve higher installation accuracy 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 can be removed by turning the open/close screw in the event of power outage.

[RCP2-GRSS]

Positioning pin

Positioning in open/close directions

Ope

n/cl

ose

dire

ctio

ns

Finger attachment

Affixing bolt M3

Shoulder contact surface Positioning in vertical directions

Ver

tical

di

rect

ions

Finger

33

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

• When installing or removing an attachment to/from a finger, tighten the mounting bolts while securely holding the attachment with a spanner, etc., to prevent the guide from receiving any load or impact.

Shoulder contact surfacePositioning in open/close direction

Lever attachment

LeverPositioning pin

Positioning in vertical direction

Affixing bolt M4

Ope

n/cl

ose

dire

ctio

ns

Ver

tical

di

rect

ions

34

To achieve higher installation accuracy 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. [RCP2-GRS/GRM] Warning Caution

• When installing or removing the attachment to/from the finger, tighten the screw while holding the attachment with a spanner, 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.

Positioning pinPositioning in open/close directions

Ope

n/cl

ose

dire

ctio

ns

Finger attachment

Affixing bolt

Shoulder contact surfacePositioning in vertical directions

Ver

tical

di

rect

ions

Finger

35

[RCP2-GRST] Warning Caution


• 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.

Open/close directions

Vertical directions

Finger


Positioning pin

Affixing bolt

Positioning in open/ close directions

Finger attachment

36

[RCP2-GR3SS/GR3SM] Warning Caution


Finger

Positioning pin Positioning in open/close directions

Ope

n/cl

ose

dire

ctio

ns

Finger attachment

Affixing bolt


Ver

tical

di

rect

ions

Shoulder contact surface

37

[RCP2-GR3LS/GR3LM] Warning Caution


Positioning pin

Ope

n/cl

ose

dire

ctio

ns


Ver

tical

di

rect

ions


Finger attachment

Finger

Stopper contact surface Positioning in longitudinal directions

Hom

e re

turn

dire

ctio

n

(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

38

4. Cable Connection 4.1 Connecting the Controller Plug the connector attached at the end of the gripper cable into the controller. For connection of I/O cable, controller power cable, and PC connection cable, refer to operation manuals for controller and PC software. When an application system is constructed using actuator and controller, if cable installation and connection are not done correctly, unexpected troubles such as disconnection or loose connection of cables may occur. The following actions regarding cable handling should not be allowed. • Do not cut cables to extend, shorten, or reconnect them. • If cables cannot be secured, reduce cable load by either keeping it within the range where the cable

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

• Do not let the cable flex at a single point. • Do not let the cable bend, kink or twist. • Do not pull the cable with a strong force. • Do not let the cable receive a turning force at a single point.

Steel band (piano wire)

Bundle loosely.

39

• Do not pinch, drop a heavy object onto or cut the cable. • When fixing the cable, provide a moderate slack and do not tension it too tight. • Please note the following points when using the cable track. • Do not let the cable get tangled or kinked in a cable track or flexible tube. When bundling the cable,

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

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

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

Always use a robot cable for the relay cable. Bending radius r

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

40

Signal lines (flat cable)

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

Do not lay signal lines together with circuit lines that create a strong electric field. 4.2 Checks after Installation Once the gripper is installed, check the following items. • Visually examine the gripper, controller and cables for scratches, dents and other abnormalities. • Confirm that the cables are connected correctly and the connectors are attached securely. Warning

• When connecting or disconnecting a cable, always turn off the controller power first. Connecting/disconnecting a cable while the controller is receiving power may cause the gripper to malfunction, resulting in a serious accident.

• Dangerous conditions may result due to gripper malfunction, if the connector plugs are not properly inserted into the sockets. Confirm that the connector plugs and sockets are properly connected.

Cable

Cable track

DuctPower line

41

Motor cover

Finger Gripper bracket

Finger guide

5. Notes on Use 5.1 Finger Operation

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

Home return direction

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

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

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

Speed/acceleration commands

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

42

Finger H

ome

retu

rn

dire

ctio

n

Trav

el d

ista

nce

per f

inge

r L1

Trav

el d

ista

nce

per f

inge

r L1

Finger

Hom

e re

turn

di

rect

ion

[Two-finger Type]

RCP2-GRSS,

RCP2CR-GRSS, RCP2W-GRSS

RCP2-GRLS, RCP2CR-GRLS, RCP2W-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°

RCP2-GRM RCP2-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

[Two-finger Long-stroke Type]

RCP2-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]

RCP2-GR3SM RCP2-GR3SS Stroke 7 mm 5 mm

Distance from center to finger end face L1 4 mm ~ 11 mm 4 mm ~ 9 mm

Finger

Dis

tanc

e fro

m

cent

er to

fing

e r

43

5.2 Removal of Gripped Work This gripper is structured in such a way that the work-gripping force will be maintained by means of self-lock even after the controller power is cut off. If the gripped work must be removed while the controller power is cut off, turn the open/close screw or remove the finger attachment on one side to release the work. [Small Two-finger Slide Type (RCP2-GRSS)]

[Small Two-finger Lever Type (RCP2-GRLS)] Turn the open/close screw clockwise or remove the finger attachment on one side. [Medium Two-finger Type (RCP2-GRM/GRS)] Turn the open/close screw or remove the finger attachment on one side.

Ope

n

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

Ope

n di

rect

ions

Finger attachment

Affixing bolt

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

Finger attachment

Affixing bolt M3

44

Open directions

Finger attachment Open/close screw

Turn the screw counterclockwise using a screwdriver.

Affixing bolt

[Three-finger Type (RCP2-GR3SS/GR3SM, RCP2-GR3LS/GR3LM)] Remove one finger attachment. [Two-finger Long-stroke Type (RCP2-GRST)] Caution Note

• If the gripped work must be removed while the controller power is cut off, turn the open/close screw or remove the finger attachment on one side to release the work. Forcibly pulling the work out of the fingers may damage the machine.

• Remove the gripped work if the machine will not be operated for a prolonged period. If the gripper remains stationary for a prolonged period with a work gripped, the gripper performance may drop or its guide function may be negatively affected.

Finger attachment Affixing bolt

45

5.3 Adjustment of Gripping Force The gripping force is freely adjustable via push-motion setting within a range of 20 to 70% of the current-limiting value of the controller. * The gripping force shown in the graphs below indicates a sum of gripping forces of both fingers.

Small two-finger slide type Small two-finger lever type (RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS) (RCP2-GRLS, RCP2CR-GRLS, RCP2W-GRLS)

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

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

Grip

ping

forc

e (N

)

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

Grip

ping

forc

e (N

)

46

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

Grip

ping

poi

nt

Grip

ping

forc

e (N

)

Grip

ping

forc

e (N

)


47

Grip

ping

forc

e (N

)

Grip

ping

forc

e (N

)


Standard type High-speed type

[Two-finger Long-stroke Type (RCP2-GRST)] * The gripping force shown in the graphs below indicates a sum of gripping forces of both fingers.

48

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

Grip

ping

poi

nt

L

Grip

ping

forc

e (N

)

Grip

ping

forc

e (N

)


49

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

Effective gripping force

Grip

ping

poi

nt

L

F =

Grip

ping

forc

e (N

)

F =

Grip

ping

forc

e (N

)


50

5.4 Guide to Determining Maximum Load The maximum load (work) that can be transferred by the gripper will vary depending on the coefficient of friction determined by the finger material and work material, and also depending on the shape of the work. Normally, the work should weigh between 1/10th to 1/20th the gripping force. If the work is subject to significant acceleration/deceleration or impact during transfer, an additional safety factor should be considered (such as setting its weight between 1/30th to 1/50th the gripping force). 5.5 Distance between Finger Attachment and Gripping Point, and Finger Shape The distance (L) between the finger installation surface and the gripping point should not exceed the dimensions specified below.

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

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

• IAI does not guarantee the accuracy of relationship between push force (gripping force) and current-limiting value. The above values are provided only for reference.

• If the push force is too small, the push force itself may fluctuate or the gripper may malfunction due to slide resistance, etc. The current-limiting value should not be below 20%.

• Minimize the size and weight of the fingers. Long, large and/or heavy fingers may reduce the gripper performance or negatively affect the guide function.

51

5.6 Notes on Transferring Works When the gripper is used to transfer works, allowing a strong force or impact to apply to the fingers, beside the gripping force, may cause the fingers to displace, become loose or sustain damage. To prevent these unwanted consequences, pay due attention to the following points: • Provide a horizontal play (compliance) with respect to the gripped work. (Do not allow one finger to receive concentrated load when a work is gripped.) • Do not cause the gripper to press-fit a gripped work into a hole or pull out a press-fit work. • When the gripper is used to move or reverse works, do not cause the gripper to press the work against

a jig, etc., at the moving end. • When the gripper is used to insert works into holes, provide a sufficient clearance by considering the

expected position offset. (Prevent interference when the work is inserted.) • Do not turn the open/close screw counterclockwise while the work is gripped, since this may damage

the work or the lever. Warning Caution

When the gripper is used to transfer works, allowing a strong force or impact to apply to the fingers, beside the gripping force, may cause the fingers to displace, become loose or sustain damage.

52

6. Cleanroom Specification (RCP2CR-GRSS, RCP2CR-GRLS) 6.1 About the Suction Amount To use as cleanliness class 10, inside of the body must be vacuumed. Connect an air piping on the 4mm-suction joint (provided at the customer side) to vacuum and perform vacuuming for the amount shown below with a device such as a vacuum pump, a blower, or an ejector.

Recommend vacuum amount 10 NI/min

7. Dust-proof Specification (RCP2W-GRSS, RCP2W-GRLS) 7.1 About the Dust-proof Capability Protective structure is IP50. IP50: A structure where dust that can affect performance will not penetrate inside.

53

8. Maintenance/Inspection Daily and periodic inspections are essential to making sure your gripper will operate safely and efficiently. Before carrying out each inspection, check the applicable maintenance/inspection items listed below. 8.1 Inspection Items and Timings Conduct visual inspection and add grease at the applicable timings specified below. The following schedule is based on eight hours of operation daily. If the gripper is operated at a higher utilization rate, including when it is operated continuously day and night, shorten the inspection intervals as necessary.

Visual inspection Grease supply

At startup inspection 1 month after start of operation 6 months after start of operation

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

* Any adjustments requiring the following operations must be carried out at our factory. Do not disassemble the gripper or cut any of its cables in the location where the gripper is installed.

• Disassemble the motor • Disassembly of guide • Disassembly of finger feed mechanism • Disassemble the bearing • Cut a cable If the user has disassembled any of the above components or cut any of the gripper’s cables, IAI will not be responsible for any malfunction or problem that may occur thereafter.

Warning

• Performing inspection or maintenance work 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.

54

8.2 Visual Inspection of the Exterior In the visual inspection of the exterior, check the following items.

Gripper Loosening of gripper mounting bolts, etc. Cables Scratches, proper connection of connectors Overall Noise, vibration

8.3 Exterior Cleaning • Clean the exterior of the gripper as necessary. • Use a soft cloth, etc., to wipe off dirt. • Do not blow compressed air onto the gripper too strongly, in order to prevent dust from entering the

gripper through small openings and gaps. • Do not use petroleum solvent as it may damage the resin parts and coated surfaces. • To clean stubborn soiling, moisten a soft cloth, etc., with neutral detergent and wipe gently. 8.4 Greasing the Two-finger Gripper 8.4.1 Guide: Excluding Cleanroom Specification

(1) Applicable grease The following grease is applied to the guide before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2 Use lithium spray grease during maintenance. Take note that grease should not be sprayed for more than 1 second.

55

Cover

Cover

(2) How to apply grease [Small Two-finger Slide Type (RCP2-GRSS, RCP2W-GRSS)]

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

[1] In the case of dust-proof specification small two-finger slide type (RCP2W-GRSS), remove the rubber cover. Rubber covers have “notches” on them. Detach the notches when removing the rubber cover.

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

[2] Using a 2.5-mm Allen wrench, turn the open/close screw at the center of the fingers to move the fingers toward the stroke center.

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

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

[4] Attach the rubber cover in the case of dust-proof specification small two-finger slide type (RCP2W-GRSS).

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

Finger

Finger guide

Open/close screw

Grease application

56

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

[1] Use a flathead screwdriver to turn the open/close screw on side cover L to move the fingers toward the stroke center.

[2] Spray grease in the gap (i.e., over the rollers) between the finger and finger guide (4 locations; keep the spray time to a maximum of 1 second at each location). After spraying, turn the open/close screw to move the fingers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

Warning

• Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of grease will drop and the machine may suffer damage due to increased friction.

• Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second, and never spray more than once. If too much grease is applied, excess grease may flow into the electronic components and cause malfunction.

Warning

• The encoder phase has been precisely adjusted to ensure accurate detection of rotational angle and home signal. To prevent gripper failure due to an offset encoder phase, never touch the encoder.

Finger guide

Grease application

Open/close screw

Finger

57

Finger

Finger guide

Open/close screw

Grease application

Cover

Small two-finger slide type (RCP2CR-GRSS)

8.4.2 Guide: Cleanroom Specification

(1) Applicable grease The following grease is applied to the feed screw before the gripper is shipped from the factory. This is the grease that generates low dust. Kuroda Precision Industries C grease

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

take place and the machine may suffer damage. (2) How to apply grease [Small Two-finger Slide Type (RCP2CR-GRSS)]

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

[1] In the case of small two-finger slide type (RCP2CR-GRSS), remove the rubber cover. Rubber covers have “notches” on them. Detach the notches when removing the rubber cover.

[2] Using a 2.5-mm Allen wrench, turn the open/close screw at the center of the fingers to move the fingers toward the stroke center.

[3] With your finger, apply grease to the gap between finger and finger guide (steel bearing). After applying the grease, work it in by twisting the open/close screw to move the finger back and forth a few times. Remove excess grease and grease spatters.

58

Cover

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

Small two-finger slide type (RCP2CR-GRSS)

Warning

• Never use a fluorine grease. If a fluorine grease is mixed with a lithium grease, the lubricating function of grease will drop and the machine may suffer damage.

• Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second, and never spray more than twice. If too much grease is applied, excess grease may flow into the electronic components and cause malfunction.

Warning

• The encoder phase has been precisely adjusted to ensure accurate detection of rotational angle and home signal. To prevent malfunctioning, never touch the encoder.

59

8.5 Feed Screw Medium Two-finger Type (RCP2-GRS/GRM) (1) Applicable grease The following grease is applied to the feed screw before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2 Use lithium spray grease during maintenance. Take note that grease should not be sprayed for more than 1 second. (2) How to apply grease [1] Remove the screws affixing side cover R and side cover L (countersunk head screw M2.6 x 6).

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

[2] Turn the open/close screw on side cover L to move the fingers toward the closing side until the guide cover R/L screws are visible.

Guide cover L screw

Open/close screw

60

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

horizontally to the opening side and remove. (Countersunk head screw M2 x 3) Note: The cutout dimensions are different between guide covers R and L. Keep the removed guide covers

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

[4] Use a flathead screwdriver to turn the open/close screw on side cover L to move the fingers toward the opening side.

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

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

61

[6] Move the fingers to the closing side. Insert the guide covers from sides and affix with screws. Insert guide covers R and L on the correct sides.

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

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

Warning



Warning


Side cover R Side cover L

62

8.6 Greasing the Two-finger Long-stroke Type (RCP2-GRST) 8.6.1 Greasing to the Feed Screw (Warm/Rack Gears)

(1) Applicable grease This actuator uses lithium grease No. 2. During maintenance, use spray-type lithium grease. Do not spray grease for more than 1 second. The following grease is applied to the guide before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2 (2) How to apply grease [1] Turn the opening/closing screw with a screwdriver to move the fingers toward their homes. [2] Spray grease toward the warm gears through gaps along the top cover. (Do not spray more than

1 second on the left and right.) [3] Turn the opening/closing screw using a screw driver to move the fingers in the directions opposite

their homes (toward the stroke center). [4] Spray grease in the same manner as in [2]. [5] After grease has been applied, turn the opening/closing screw to move the fingers back and forth

several times to spread the grease evenly

Apply grease through gaps along the top cover.

63

8.6.2 Greasing to the Guide

(1) Applicable grease This actuator uses lithium grease No. 2. During maintenance, use spray-type lithium grease. Do not spray grease for more than 1 second. The following grease is applied to the guide before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2 (2) How to apply grease

[1] Remove the screws from the side cover P. (Cross-recessed head machine screw for precision equipment M2 x 4)

[2] Remove the screws from the fingers L and R. (Low hexagonal head socket bolts M3 x 6)

64

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

[4] Spray grease into the gaps along the LM guide. Apply grease at a total of four locations on the left and right guide blocks.. Do not spray grease for more than 1 second in each location.

[5] After grease has been applied, turn the opening/closing screw to move the fingers back and forth several times to spread the grease evenly. Wipe off excess grease or grease that has scattered.

[6] Install the top cover, fingers L/R and side cover P you have removed earlier.

Gaps

65

Warning



Warning


66

8.7 Greasing the Three-finger Gripper 8.7.1 Slide Type

Greasing the Guide

(1) Applicable grease The following grease is applied to the guide before the gripper is shipped from the factory.

Idemitsu Kosan Daphne Eponex Grease No. 2 Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second. (2) How to apply grease

[1] Use a flathead screwdriver to turn the open/close screw located deep at the center counterclockwise to move the fingers toward their respective stroke centers.

[2] Spray grease in the gap (i.e., over the rollers) between the finger and finger guide (6 locations; keep the spray time to a maximum of 1 second at each location). After spraying, turn the open/close screw to move the fingers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

Greasing the Gears

(1) Applicable grease The following grease is applied to the gears before the gripper is shipped from the factory.

Kyodo Yushi Multemp AC-D No. 2 Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second. (2) How to apply grease

[1] Use a flathead screwdriver to turn the open/close screw located deep at the center clockwise to move the fingers toward the ends of their respective strokes.

[2] Spray grease at the gear meshing locations

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

After spraying, turn the open/close screw to move the fingers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

Finger guide

Open/close screw

Finger

Open/close screw

Gear meshing location


67

8.7.2 Lever Type

Greasing the Gears

(1) Applicable grease The following grease is applied to the gears before the gripper is shipped from the factory.

Kyodo Yushi Multemp AC-D No. 2 Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second. (2) How to apply grease

[1] Use a flathead screwdriver to turn the open/close screw located deep at the center clockwise to move the levers toward the ends of their respective strokes.

[2] Spray grease at the gear meshing locations

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

After spraying, turn the open/close screw to move the levers back and forth several times to spread the grease evenly. Remove excess grease or grease spatters in surrounding areas.

Warning



Open/close screw Gear meshing location


68

9. Specifications 9.1. Specification List

Small two-finger type Medium two-finger type Slide type Lever type Slide type

RCP2-GRSS RCP2CR-GRSS RCP2W-GRSS

RCP2-GRLS RCP2CR-GRLS RCP2W-GRLS

RCP2-GRS RCP2-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)

33.3 mm/sec (Per side)

36.7 mm/sec (Per side)

Stopping repeatability ±0.01 mm ±0.01 deg ±0.01 mm ±0.01 mm

Backlash 0.2 mm max. on each side *1

1 deg max. on each side *1

0.15 mm max. on each side *1

0.15 mm max. on each side *1

Lost motion 0.05 mm max. on each side

0.1 deg max. on each side

0.1 mm max. on each side

0.1 mm max. on each side

Allowable load moment (*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

Position detection method Magnetic incremental encoder 800 P/rev

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 Gripper weight 0.2 kg 0.2 kg 0.36 kg 0.5 kg *1 Constantly pushed toward the opening side by a spring. *2 Moments generated in a standstill state

Long-stroke type Slide type

RCP2-GRST (Gear ratio: 2.27)

RCP2-GRST (Gear ratio: 1.05)

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

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

Mb: 2.93 N-m Mc: 5.0 N-m


Finger drive method Stepping motor + Timing belt + Warm/rack gears Finger guide structure Linear guide (ball) Gripper weight 0.51 kg 0.56 kg 0.61 kg 0.66 kg

69

Three-finger type Slide type Lever type

RCP2-GR3SS

RCP2-GR3SM

RCP2-GR3LS RCP2-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)

Stopping repeatability ±0.01 mm ±0.01 mm ±0.01 deg ±0.01 deg Backlash 0.3 mm max.

on each side *1 0.3 mm max.

on each side *11.0 deg max.

on each side *11.0 deg max.

on each side *1 Lost motion 0.1 mm max.

on each side 0.1 mm max. on each side



Allowable load moment (*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 Gripper weight 0.6 kg 1.2 kg 0.6 kg 1.1 kg *1 Constantly pushed toward the opening side by a spring. *2 Moments generated in a standstill state

70

9.2 Cable Wiring Diagram 9.2.1 Small Two-finger Slide Type (RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS),

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

[1] Integrated motor/encoder cable Model: CB-PCS-MPA

(Front view) (Front view) Controller end Actuator end

Signal Pin no. Pin no. Signal (Wire color) Black White Red

Green Yellow Brown

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

Gray (with red dot) Gray (with blue dot)

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

Shielded wire

71

9.2.2 Medium Two-finger Type (RCP2-GRS, RCP2-GRM), Three-finger Slide Type (RCP2-

GR3SS, RCP2-GR3SM), Three-finger Lever Type (RCP2-GR3LS, RCP2-GR3LM) [1] Motor cable

Model: CB-RCP2-MA [2] Encoder cable/encoder robot cable

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

(Front view) (Front view) Controller end Actuator end

M cable

Orange Gray White Yellow Pink

Orange (black 1)

Yellow Gray

OrangeOrange (black 1)

Pink White

(JST)

(Front view) (Front view)

Controller end Actuator end

Cable color

Signal name

Pin name

Pin name

Signal name

Cable color

(JS

T) (J

ST)

Drain

Brown Green Purple Pink

Blue Orange Yellow

Blue (Red1)

White

Red Gray Drain

Blue (Red) White Red Gray

Brown Green Purple Pink

Yellow Orange

Blue

Shielded wire

Drain wire

72

9.3 External Dimensions [RCP2-GRSS]

depth 4

depth 3


(Same on opposite side)depth 5

depth 3


depth 3


depth 5

depth 3



depth 3

73


depth 3



depth 3

depth 3

depth 3

depth 5

depth 3

depth 5


depth 3

Cleanroom Specification [RCP2CR-GRSS]

74

Dust-proof Specification [RCP2W-GRSS]


depth 3


depth 3


depth 3



depth 3


depth 3

depth 3

depth 5


75

depth 3






depth 5

depth 3

depth 3

depth 3

depth 5 depth 5 depth 3


depth 2.5

4-M4, through depth 3

[RCP2-GRLS]

76

depth 2.5

(Same on opposite side) , through

depth 3 depth 3


depth 3 (Same on opposite side) depth 5

depth 5

depth 5

Cleanroom Specification [RCP2CR-GRLS]

77

Dust-proof Specification [RCP2W-GRLS]




depth 2.5

, through

depth 3


depth 3

depth 5 depth 5



78

[RCP2-GRS]

depth 2.5(Same on opposite side)


depth 7 depth 2.5depth 6

depth 2.5(Same on opposite side)

depth 8

dept

h 2.

5

79




depth 2.5

depth 2.5

dept

h 2.

5

depth 8 depth 2.5 depth 6

depth 8 O

pen

[RCP2-GRM]

80


depth 5

depth 6


depth 3

(Sam

e on

opp

osite

sid

e)

dept

h 3

depth 3

depth 3 depth 5

depth 3

Unlocking screw

[RCP2-GRST]

st (Stroke on each side) L M N

20 130 71.5 57.5 30 150 81.5 67.5 40 170 91.5 77.5 50 190 101.5 87.5

81

[RCP2-GR3SS]

M8 (Effective depth 6)

(Same on back side)

depth 5

depth 3

depth 3

depth 8

φ9 counterbore, depth 1.5



(Same on back side)

(Same on back side)




82

[RCP2-GR3SM]

3-M5 (Effective depth 7)


depth 6

depth 3

depth 12

(Same on back side)

M8 (Effective depth 6)

φ9 counterbore, depth 1.5


(Same on back side)

(Same on back side)

Blank plug (Set screw M5 x 6)



depth 3

83

[RCP2-GR3LS]

3-M4 (Effective depth 6)


depth 3

depth 8

depth 3 (Same on back side)

(Effective depth 4) Installation surface

(Same on back side)

(Same on back side)

Blank plug (Set screw M4 x 5)



84

[RCP2-GR3LM]


depth 3

depth 12

depth 3 (Same on back side)

(Effective depth 4) Installation surface

(Same on back side)

(Same on back side)




85

10. Warranty 10.1 Warranty Period The warranty period expires upon elapse of one of the following periods, whichever occurs first.

• 18 months after shipment from IAI • 12 months after delivery to the location specified by the user • 2,500 hours after start of operation

10.2 Scope of Warranty IAI will repair free of charge any gripper defects due to craftsmanship or material that may occur during the above warranty period. Note, however, that the following items are expressly excluded from the scope of warranty. • Aging, such as fading of exterior paint • Wear of consumable parts • Noises not affecting function or other perceived deviations • Defects resulting from inappropriate handling or insufficient maintenance/inspection by the user • Defects resulting from alteration not performed by IAI or IAI’s agent • Defects resulting from use of a controller not manufactured by IAI • Defects resulting from natural disaster, accident or fire The free repair covers only the gripper and its components contained in the original package delivered by IAI. The user must hand-carry the gripper for repair. An additional fee will be chargeable for on-site repair, even during the warranty period.

86

Revision History

Revision Date Description of Revision November 7, 2008 Fifth edition

Descriptions for the following grippers have been added. • Cleanroom specification

• Small two-finger slide type RCP2CR-GRSS • Small two-finger lever type RCP2CR-GRLS

• Dust-proof specification • Small two-finger slide type RCP2W-GRSS • Small two-finger lever type RCP2W-GRLS

December 5, 2008 Sixth edition

Descriptions for the following grippers have been added.

• Two-finger long-stroke type RCP2-GRST

90

Catalog No.: ME3627-6A (February 2009)

Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815

Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143 TEL (630) 467-9900 FAX (630) 467-9912

Atlanta Office: 1220-E Kennestone Circle, Marietta, GA 30066 TEL (678) 354-9470 FAX (678) 354-9471

website: www.intelligentactuator.com

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany TEL 06196-88950 FAX 06196-889524

The information contained in this document is subject to change without notice for the purpose of product improvement. Copyright © 2009 FEB. IAI Corporation. All rights reserved.

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