IAI RCP2 series First Step Manual

RCP2 (CR) (W) /RCS2 Actuator
Gripper Type
First Step Guide
First Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD) included with the product in addition to this First
Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the CD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A copy of the CD 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.
• 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
1 Actuator Main Body [Refer to "2.How to read the model plate",
"3.How to read the model."]
Accessories
Motor • Encoder Cable
2 *1
3 First Step Guide
4 Instruction Manual (CD)
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

Model
MODEL RCP2-GRSS-I-20P-30-8-P1-S-NM
Serial number
SERIAL No.800061910
MADE IN JAPAN

3. How to read the model

3.1 RCP2 Type

R C P 2 - G R S S - I - 2 0 P - 3 0 - 8 - P 1 - S - N M
<Series>
RCP2 : Standard Type
RCP2CR : Clean-Room Type
RCP2W : Dust-Proof Type
<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)
[Refer to the Catalog or Instruction Manual (CD) for specification details.]

3.2 RCS2 Type

R C S 2 - G R 8 - I - 6 0 - 5 - 2 0 - T 1 - S
<Series>
<Type>
GR8
<Encoder Type>
I : Incremental
<Motor Type>
60 : Servo-Motor 60W
<Gear Ratio>
5 : 1/5
<Stroke>
20 : 20mm (10mm per side)
40 : 40mm (20mm per side)
60 : 60mm (30mm per side)
80 : 80mm (40mm per side)
[Refer to the Catalog or Instruction Manual (CD) for specification details.]

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.
Remarks
• Do not give any excessive force to any of the sections in the actuator.

Installation Environment, Storage Environment

1. Installation Environment

An environment that satisfies the following conditions is required during installation.
• There should be no direct sunlight.
• Any radiant heat from a large heat source such as a heat treatment furnace should not be directed at
the machine main body.
• The ambient temperature should be 0 to 40°C.
• The relative humidity should be 85% or less. There should not be dew condensation.
• There should be no corrosive gas or flammable gas.
• It should be normal assembling work environment where there is not too much dust.
(Dust-proof Types RCP2W-GRSS and RCP2W-GRLS are excluded)
• Oil mist or cutting liquid should not be directed at the machine.
• An impact or vibration should not be transmitted to it.
• There should be no strong electromagnetic waves, ultraviolet rays or radiation.
• Chemical resistance specification is not considered to this product.
<Option> It is generally the environment where a worker can work without any protection gear or protection wear.
NM : Reversed Home Specification

2. Storage and Preservation Environment

FB : Flange Bracket
SB : Shaft Bracket The storage and preservation environment should comply with the same standards as those for the
A0 : Cable Oriented on Bottom
installation environment. In particular, when the machine is to be stored for a long time, pay close
A1 : Cable Oriented on Side
attention to environmental conditions so that no dew condensation forms.
CJT : Cable Exit direction changed
Unless specially specified, moisture absorbency protection is not included in the package when the
(to top side)
machine is delivered. In the case that the machine is to be stored in an environment where dew
CJR : Cable Exit direction changed
(to right side) condensation is anticipated, take the condensation preventive measures from outside of the entire
CJL : Cable Exit direction changed package, or directly after opening the package.
(to left side)
For storage temperature, the machine withstands temperatures up to 60°C for a short time, but in the
CJB : Cable Exit direction changed
case of the storage period of 1 month or more, control the temperature to 50°C or less.
(to bottom side)
<Cable Length>
N : None
P : 1m
1. Thin and Small Two-finger Slide Type (Standard) RCP2-GRSS
S : 3m
M : 5m
X□□ : Specified Length
(Example: X07=7m)
R□□ : Robot Cable
(Example: R05=5m)
<Applicable Controller>
P1 : PCON P3 : PMEC
RPCON PSEP
PSEL
<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)
<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
100 : 100mm (50mm per side)
120 : 120mm (60mm per side)
200 : 200mm (100mm per side)

Precautions in Handling

Names of the Parts

Actuator Cable
Motor Cover
Frame
Left Side
Finger Guide
Finger
Open/Close
Screw
Front Rear
Finger
Motor Cover Lid
Right Side
2. Thin and Small Two-finger Slide Type (for clean-room use) RCP2CR-GRSS
Vacuum Joint
Actuator Cable
Left Side
Motor Cover
Frame
Finger
Front
Finger
Motor Cover Lid
Right Side
3. Thin and Small Two-finger Slide Type (for dust-proof use)
Actuator Cable
Left Side
Motor Cover
Frame
Finger
Front
Finger
Motor Cover Lid
Right Side
4. Thin and Small Two-finger Lever Type (Standard) RCP2-GRLS
Actuator Cable
Left Side
Motor Cover
Lever L Frame
Open/Close
Screw
Front
Lever R
Right Side
5. Thin and Small Two-finger Lever Type (for clean-room use) RCP2CR-GRLS
Vacuum Joint
Left Side
Actuator Cable
Motor Cover
Lever L
Frame
Front
Lever R
Motor Cover Lid
Right Side
Rear
RCP2W-GRSS
Rear
Rear
Rear