IAI ROBO Cylinder RCP2 Series User manual

RCP2 (CR) (W) /RCS2 Actuator
Gripper Type
First Step Guide Third Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to this First
Step Guide to ensure correct use.
This Instruction Manual is original.
•Using or copying all or part of this Instruction Manual without permission is prohibited.
•The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (The option is excluded.)
No. Part Name Model Remarks
1 Actuator Main Body [Refer to “2.How to read the model plate”,
“3.How to read the model.”]
Accessories
2 Motor •Encoder Cable*1
3 First Step Guide
4 Instruction Manual
(DVD)
5 Safety Guide
*1 Please refer to the wiring layout for the enclosed motor cable and encoder cable.
2. How to read the model plate
3. How to read the model
3.1 RCP2 Type
3.2 RCS2 Type
Precautions in Handling
1. Handling of the Packed Product
Unless otherwise specified, the actuator is shipped with each axis packaged separately.
•Do not damage or drop. The package is not supplied with any special treatment that enables it to resist
an impact caused by a drop or crash.
•If the shipping box is to be left standing, it should be in a horizontal position. Follow the instruction if
there is any for the packaging condition.
•Do not step or sit on the package.
•Do not put any load that may cause a deformation or breakage of the package.
2 Handling of Robot without Package
•Do not carry the actuator by holding the cable, or do not move it by pulling the cable.
•When carrying the actuator, exercise caution not to bump it against nearby objects or structures.
•Do not give any excessive force to any of the sections in the actuator.
Environments for Installation, Storage and Preservation
1. Installation Environment
Please attempt to avoid installing the product to such places as listed below.
It is generally the environment where a worker can work without any protection gear. (Dust-proof Types
are excluded)
Also, make sure to keep enough space necessary for maintenance work.
•Place where exposed to radiant heat from a huge heat source such as heat treatment
•Place where the ambient temperature goes out of the applicable range from 0 to 40°C
•Place where condensation would occur due to sudden temperature change
•Place where the relative humidity exceeds 85% RH
•Place where exposed to the direct sunlight
•Place where corrosive gas or flammable gas exist
•Place where it contains a lot of dust, salt or iron (Outside of an ordinary assembly plant) (The except for
dust the dust-proof specification)
•Place where water, oil (includes oil mist and cutting fluid) or chemical is splashed
•Place where the product main body receives vibration or hit impact
• Place with an altitude of 2,000m or more
Make sure to have a treatment for blocking when using in the following conditions:
•Place where noise is generated by such facts as static electricity
•Place where exposed to the influence of strong electric or magnetic field
•Place where exposed to the influence of ultraviolet or radiant rays
2. Storage and Preservation Environment
•The storage and preservation environment should comply with the same standards as those for the
installation environment. In particular, when the machine is to be stored for a long time, pay close
attention to environmental conditions so that no dew condensation forms.
•Unless specially specified, moisture absorbency protection is not included in the package when the
machine is delivered. In the case that the machine is to be stored and preserved in an environment
where dew condensation is anticipated, take the condensation preventive measures from outside of the
entire package, or directly after opening the package.
•For storage and preservation temperature, the machine withstands temperatures up to 60°C for a short
time, but in the case of the storage and preservation period of 1 month or more, control the temperature
to 50°C or less.
•The product should be settled in the horizontal orientation while in storage and reservation. In the case
it is stored in the packaged condition, follow the posture instruction if any displayed on the package.
Names of the Parts
1. Thin and Small Two-finger Slide Type (Standard specification) RCP2-GRSS
2. Thin and Small Two-finger Slide Type (Cleanroom specification) RCP2CR-GRSS
3. Thin and Small Two-finger Slide Type (Dust-proof specification) RCP2W-GRSS
4. Thin and Small Two-finger Lever Type (Standard specification) RCP2-GRLS
Model
Serial numbe
r
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A copy of the DVD Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cover of the Instruction Manual or on the First Step Guide.
RCP2-GRSS-I-20P-30-8-P1-S-NM
<Series>
RCP2 : Standard Specification
RCP2CR : Clean-Room Specification
RCP2W : Dust-Proof Specification
<Type>
GRSS : Thin and Small Two-finger
Slide Type
GRLS : Thin and Small Two-finger
Lever Type
GRS : Small Two-finger Slide Type
GRM : Medium Two-finger Slide Type
GRHM : Medium Two-finger High-grip-force
Slide Type
GRHB : Large Two-finger High-grip-force
Slide Type
GRST : Small Two-finger Long-stroke Type
GR3SS : Three-finger Slide Type,
Body Width 62mm
GR3SM : Three-finger Slide Type,
Body Width 80mm
GR3LS : Three-finger Lever Type,
Body Width 62mm
GR3LM : Three-finger Lever Type,
Body Width 80mm
<Encoder Type>
I : Incremental
<Motor Type>
20P : Pulse Motor 20 □Size 35P : Pulse Motor 35 □Size
28P : Pulse Motor 28 □Size 42P : Pulse Motor 42 □Size
<Gear Ratio>
1 : 1/1(GRST) 30 : 1/30
2 : 1/2(GRST) 2 : Feed Screw Lead 2(GRHM, GRHB)
<Option>
NM : Reversed Home Specification
FB : Flange Bracket
SB : Shaft Bracket
A0 : Cable Oriented on Bottom
A1 : Cable Oriented on Side
CJT : Cable Exit direction changed
(to top side)
CJR : Cable Exit direction changed
(to right side)
CJL : Cable Exit direction changed
(to left side)
CJB : Cable Exit direction changed
(to bottom side)
VL : L-Shaped type vacuum joint
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
(Example: X07=7m)
R□□ : Robot Cable
(Example: R05=5m)
<Applicable Controller>
P1 : PCON, RPCON, PSEL
P3 : PCON-CA, PMEC
PSEP, MSEP
<Stroke>
8 : 8mm (4mm per side)
10 : 10mm (5mm per side)
14 : 14mm (7mm per side)
32 : 32mm (16mm per side)
40 : 40mm (20mm per side)
60 : 60mm (30mm per side)
80 : 80mm (40mm per side)
100 : 100mm (50mm per side)
19 : 19 degrees
180 : 180 degrees (90 degrees per side)
[Refer to the Catalog or Instruction Manual (DVD) for
specification details.]
RCS2-GR8-I-60-5-20-T1-S-CE
<Option>
CE : CE Marking
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
(Example: X07=7m)
R□□ : Robot Cable
(Example: R05=5m)
<Applicable Controller>
T1 : XSEL-J/K T2 : SCON
SSEL
XSEL-P/Q
<Series>
<Type>
GR8
<Encoder Type>
I : Incremental
<Motor Type>
60 : Servo-Motor 60W
<Gear Ratio>
5 : 1/5
<Stroke>
20 : 20mm (10mm per side) 100 : 100mm (50mm per side)
40 : 40mm (20mm per side) 120 : 120mm (60mm per side)
60 : 60mm (30mm per side) 200 : 200mm (100mm per side)
80 : 80mm (40mm per side)
[Refer to the Catalog o
r
Instruction Manual (DVD) for specification details.]
MODEL RCP2-GRSS-I-20P-30-8-P1-S-NM
SERIAL No.800061910 MADE IN JAPAN
Actuator Cable
Left Side
Motor Cover
Frame
Finger Guide
Finger
Open/Close
Screw
Finger
Front
Right Side
Rear
Motor Cover Lid
Vacuum Joint
Actuator Cable
Left Side
Motor Cover
Frame
Finger
Finger
Front
Right Side
Rear
Motor Cover Lid
Actuator Cable
Left Side
Motor Cover
Frame
Finger
Finger
Front
Right Side
Rear
Motor Cover Lid
Lever L
Lever R
Actuator Cable
Left Side
Motor Cover
Frame
Open/Close
Screw
Front
Right Side
Rear

5. Thin and Small Two-finger Lever Type (Cleanroom specification) RCP2CR-GRLS
6. Thin and Small Two-finger Lever Type (Dust-proof specification) RCP2W-GRLS
7. Small •Medium Two-finger Slide Type (Standard specification) RCP2-GRS/GRM
8. Small •Medium Two-finger Slide Type (Cleanroom specification) RCP2CR-GRS/GRM
9. Small •Medium Two-finger Slide Type (Dust-proof specification) RCP2W-GRS/GRM
10. Two-finger High-grip-force Slide Type RCP2-GRHM/GRHB
11. Small Two-finger Long-stroke Type RCP2-GRST
12. Three-finger Slide Type (Standard specification) RCP2-GR3SS/GR3SM
13. Three-finger Slide Type (Cleanroom specification) RCP2CR-GR3SS, GR3SM
14. Three-finger Slide Type (Dust-proof specification) RCP2W-GR3SS, GR3SM
15. Three-finger Lever Type RCP2-GR3LS/GR3LM
16. Servo-Motor Type RCS2-GR8
Please refer to the Catalog or the Instruction Manual (DVD) for the dimensions and profile.
Connector
Side Cover
Side Cover R Frame
Finger L
Finger R
Open/Close
Screw
Open/Close
Screw
Guide Base
Left Side
Front
Right Side
Rear
Side Cover P Side Cover C
Actuator Cable
Left Side
Frame
Finger L Finger R
Front
Right Side
Rear
Open/Close
Screw
Top Cover
Main Cover Motor Cover
Rear Cover
Actuator Cable
Left Side
Frame
Finger C
Finger B
Finger A
Front
Right Side
Top Side
Bottom Side
Rear
Open/Close
Screw
Guide Base
Close Direction Open Direction
Front Caver
Main Cover Motor Cover
Rear Cover
Actuator Cable
Left Side
Frame
Finger C
Finger B
Finger A
Front
Right Side
Top Side
Bottom Side
Rear
Open/Close
Screw
Close Direction Open Direction
Finger
Attachment Plate
Linear Guide
T-slot
Speed Reducer Unit
Motor Unit
Side Cover
Actuator Cable
Finger
Front Cover Base
Lever L
Lever R
Vacuum Joint
Actuator Cable
Left Side
Motor Cover
Frame
Front
Right Side
Rear
Motor Cover Lid
Lever L
Lever R
Actuator Cable
Left Side
Motor Cover
Frame
Front
Right Side
Rear
Motor Cover Lid
Side Cover L
Side Cover R
Actuator Cable
Left Side
Frame
Finger L
Finger R
Front
Right Side
Rear
Open/Close Screw
Guide Cover R
Guide Cover L
Finger Guide
4
Open/close screw
Side cover L
Side cover R
Air suction joint
Actuator cable
Frame
Rear
Front
Left
Right
Finger L
Finger R
Rubber cover
Air suction joint
Rubber cover
Main cover
Actuator cable
Motor cover
Rear cover
Rear
Front
Left
Right
Top
Bottom
Finger A
Finger BFinger C
Frame
Rubber cover
Main cover
Actuator cable
Motor cover
Rear cover
Rear
Front
Left
Right
Top
Bottom
Finger A
Finger B
Finger C
Frame
4
Open/close screw
Side cover L
Side cover R
Actuator cable
Frame
Rear
Front
Left
Right
Finger L
Finger R
Rubber cover

Attachment
Refer to the Instruction Manual (DVD) for the attachments of the actuator and loads.
[Precautions for Attachments]
No. Item Precautions
1 Attachment Surface •The actuator mounting surface and other surfaces that are used as a
datum should be flat enough with an accuracy of machining or
equivalent treatment, and the flatness of the mounting surface needs
to be 0.05mm/m or less.
•Secure the space where maintenance work can be performed.
2 Bolts to be used •For the bolts to be used, a high-tensile bolt complying with ISO-10.9
or more is recommended.
•If using the tapped holes, use screws with the thread length
dimension being less than the effective depth of the holes.
•In case the tapped hole is a through hole, be careful so the screw tip
does not exceed the surface of the tapped hole.
•For the actuator mounting, use a bolt with the dimension of its
effective mating length to the tapped hole size as stated below.
If tapped hole in steel →thread length same as nominal diameter
If tapped hole in aluminum →thread length 2 times longer than
nominal diameter
3 Tightening Torque •Please follow the specification values stated in the Instruction Manual
(DVD) for the tightening torque.
Failure to do so may cause an operation problem.
4 Allowable Load
Moment
•Please follow the specified value stated in the Instruction Manual
(DVD) for the allowable load moment. If a load beyond the range is
applied, it may shorten the product life. An extremely high load may
cause flaking.
Wiring
For the controller, only the dedicated controller manufactured by our company can be used.
Use the dedicated cable enclosed in the package when connecting the actuator and the
controller.
1. Thin and Small Two-finger Slide Type (RCP2-GRSS/RCP2CR-GRSS/RCP2W-GRSS)
Thin and Small Two-finger Lever Type (RCP2-GRLS/RCP2CR-GRLS/RCP2W-GRLS)
Two-finger High-grip-force Slide Type (RCP2-GRHM/GRHB)
Two-finger Long-stroke Type (RCP2-GRST)
[Connection to the PCON, PSEL Controller]
Dedicated Cable
•Motor • Encoder Cable CB-PCS-MPA□□□
□□□ shows the cable length.
The max. length should be 20m.
Example) 080=8m
[Connection to the PCON-CA, MSEP, PMEC, PSEP Controller]
Dedicated Cable
•Motor • Encoder Robot Cables CB-APSEP-MPA□□□,
•Motor • Encoder Cable CB-APSEP-MPA□□□-LC
□□□ shows the cable length.
The max. length should be 20m.
Example) 080=8m
2. Small Two-finger Slide Type (RCP2-GRS, RCP2CR-GRS, RCP2W-GRS), Medium Two-finger Slide Type
(RCP2-GRM, RCP2CR-GRM, RCP2W-GRM)
Three-finger Slide Type (RCP2-GR3SS/GR3SM, RCP2CR-GR3SS/GR3SM, RCP2W-GR3SS/GR3SM)
Three-finger Lever Type (RCP2-GR3LS/GR3LM)
[Connection to the PCON, PSEL Controller]
Dedicated Cable
•Motor Cable (Robot Cable) CB-RCP2-MA□□□
•Encoder Cable CB-RCP2-PB□□□/Encoder Cable Robot Cable CB-RCP2-PB□□□-RB
□□□ shows the cable length.
The max. length should be 20m.
Example) 080=8m
[Connection to the PCON-CA, MSEP, PMEC, PSEP Controller]
Dedicated Cable
•Motor Encoder Cable CB-PSEP-MPA□□□
□□□ shows the cable length.
The max. length should be 20m.
Example) 080=8m
3. RCS2
[Connection to the SCON, SSEL Controller]
Dedicated Cable
•Motor Cable CB-RCC-MA□□□/Motor Cable Robot Cable CB-RCC-MA□□□-RB
•Encoder Cable CB-RCS2-PA□□□/Encoder Cable Robot Cable CB-X3-PA□□□
□□□ shows the cable length.
The max. length should be 30m.
Example) 080=8m
[Connection to the X-SEL Controller]
Dedicated Cable
•Motor Cable CB-RCC-MA□□□/Motor Cable Robot Cable CB-RCC-MA□□□-RB
•Encoder Cable for XSEL-J/K Type CB-RCBC-PA□□□
/Encoder Cable Robot Cable for XSEL-J/K Type CB-RCBC-PA□□□-RB
•Encoder Cable for XSEL-P/Q Type CB-RCS2-PA□□□
/Encoder Cable Robot Cable for XSEL-P/Q Type CB-X3-PA□□□
□□□ shows the cable length.
The max. length should be 15m. The max. length for other cables is 20m.
Example) 080=8m
[Prohibited Items in the Cable Processing]
•Do not pull or bend forcibly the cable so as not to give any extra load or tension to the
cable.
•Do not process the cable for extension or shortening by means of cutting out,
combination or connecting with another cable.
•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.
•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.
•Separate the I/O line, communication line and power line from each other.
Arrange so that such lines are independently routed in the duct.
Steel Strap
(Piano Wire)
Tie them up softly.
Do not use spiral tube in any
position where cables are bent
frequently.
Power Line
Duct
I/O Line
(Flat Cable, etc.)
Dedicated Connection Cable
(Connect RCS2 with the dedicated controller)
Dedicated Controller
SCON
SSEL
Robot Cable
r = 58mm or more (Movable Use)
Standard Cable
r = 93mm or more (Fixed Use)
Apply a robot cable for moveable area.
Dedicated Connection Cable
(Connect RCS2 with the dedicated controller)
Robot Cable
r = 58mm or more (Movable Use)
Standard Cable
r = 93mm or more (Fixed Use)
Dedicated Controller
XSEL
Apply a robot cable for moveable area.
Dedicated Connection Cable
(Connect RCP2 with the dedicated controller)
r = 84mm or more (Movable Use)
r = 42mm or more (Fixed Use)
r
Dedicated Controller
PSEL
PCON (PCON-CA other than)
Dedicated Connection Cable
(Connect RCP2, RCP2CR, RCP2W with the dedicated controller)
Robot Cable
r = 54mm or more (Movable Use)
Standard Cable
r = 75mm or more (Fixed Use)
Apply a robot cable for moveable area.
Dedicated Controller
PSEL
PCON (PCON-CA other than)
Dedicated Connection Cable
(Connect RCP2, RCP2CR, RCP2W with the dedicated controller)
r = 68mm or more (Movable Use)
r = 34mm or more (Fixed Use)
Dedicated Controller
PCON-CA
MSEP
PMEC
PSEP
Dedicated Connection Cable
(Connect RCP2 with the dedicated controller)
Robot Cable CB-APSEP-MPA□□□
Standard Cable CB-APSEP-MPA□□□-LC
r = 68mm or more (Movable Use)
r = 34mm or more (Fixed Use)
r
Dedicated Controller
MSEP
PMEC
PSEP
PCON-CA r = 34mm or more (Fixed Use)

Follow the instructions below when using a cable track.
•If there is an indication to the cable for the space factor in a cable track, refer to the wiring
instruction given by the supplier when storing the cable in the cable track.
•Avoid the cables to get twined or twisted in the cable track, and also to have the cables
move freely and do not tie them up. (Avoid tension being applied when the cables are
bent.)
Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage..
Note:
•When the cable is connected or disconnected, make sure to turn off the power to the controller.
When the cable is connected or disconnected with the controller power turned ON, it might cause a
malfunction of the actuator and result in a serious injury or damage to the machinery.
•When the connector connection is not correct, it would be dangerous because of a malfunction of
the actuator. Make sure to confirm that the connector is connected correctly.
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL [phone] FAX [phone]
website: www.iai-robot.co.jp/
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL [phone] FAX [phone]
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL [phone] FAX [phone]
website: www.iai-robot.com
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL [phone] FAX [phone]
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL [phone] FAX [phone]
TEL [phone] FAX [phone]
website: www.intelligentactuator.com
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL [phone] FAX [phone]
Manual No.: ME3697-3A