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ROBO Cylinder GRSS Instruction Manual

Rcp2 series actuator gripper type standard specification
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ROBO Cylinder
RCP2 Actuator Gripper Type
Standard Specification
Instruction Manual
Small Slim Two-finger Slide Type:
Small Slim Two-finger Lever Type:
Small and Medium Two-finger Type:
Two-finger Type with High Gripping Force: GRHM / GRHB
Two-finger Long-stroke Type:
Three-finger Slide Type:
Three-finger Lever Type:
Eleventh Edition
IAI Corporation
GRSS
GRLS
GRS / GRM
GRST
GR3SS / GR3SM
GR3LS / GR3LM

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  • Page 1 ROBO Cylinder RCP2 Actuator Gripper Type Standard Specification Instruction Manual Eleventh Edition Small Slim Two-finger Slide Type: GRSS Small Slim Two-finger Lever Type: GRLS Small and Medium Two-finger Type: GRS / GRM Two-finger Type with High Gripping Force: GRHM / GRHB...
  • Page 3 Please Read Before Use Thank you for purchasing our product. This instruction manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product.

  • Page 5: Table Of Contents

    Cable Exit from Bottom and Cable Exit from Side (Model: A0, A1) ..... 43 1.5 Motor • Encoder Cables ....................44 1.5.1 Small Slim Two-finger Slide Type (GRSS), Small Slim Two-finger Lever Type (GRLS), Two-finger Long-stroke Type (GRST), Two-finger Type with High Gripping Force (GRHM/GRHB) ..............44 1.5.2...
  • Page 6 Greasing the Gears .................... 104 5.9 Grease Supply for Three-Fingered Lever Type (GR3LS/GR3LM)........105 5.9.1 Greasing the Gears .................... 105 6. External Dimensions..................106 6.1 GRSS ..........................106 6.2 GRLS..........................107 6.3 GRS..........................108 6.4 GRM ..........................109 6.5 GRHM..........................110 6.6 GRHB ..........................111...

  • Page 7: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it 1before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 8 Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 9 Operation Description Description Installation (2) Cable Wiring and Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 10 Operation Description Description Installation (4) Safety Measures and Start ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 11 Operation Description Description Trial Operation ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ●...
  • Page 12 Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is and Inspection to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ●...
  • Page 13 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the instruction manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the product Danger Danger is not handled correctly, will result in death or serious injury.

  • Page 14: Caution In Handling

    In case of removing the grease applied on the fingers and finger guides after delivery, make sure to implement a rust prevention treatment. Applicable models : GRSS, GRS, GRM, GR3SS, GR3SM There is grease applied on the fingers and finger guides at the delivery for rust prevention treatment.
  • Page 15 Make sure to follow the cautions listed below when transferring a work piece. If the fingers receive a strong force or impact other than the gripping force when transferring work parts, the finger positions may deviate, looseness may occur or damage may result. Accordingly, pay due attention to the points listed below.
  • Page 16 Avoid using the gripper in a manner where it press-fits a gripped work part into a hole or pulls out a work part that has been press-fit. Do not press-fit a Do not pull out a work part. press-fit work part. Avoid pushing a work part against a jig, etc., at the end of the movement stroke when the work part is moved or reversed.

  • Page 17: International Standards Compliances

    International Standards Compliances This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. RoHS Directive CE Marking...
  • Page 18 Names of the Parts 1. Small Slim Two-finger Slide Type: GRSS M cable Motor cover PG cable Frame Left Finger guide Finger Open/close screw Front Rear Finger Motor cover lid Right...
  • Page 19 2. Small Slim Two-finger Slide Type: GRLS M cable PG cable Left Motor cover Lever L Frame Open/close screw Front Rear Lever R Right...
  • Page 20 3. Small and Medium Two-finger Type: GRS/GRM Open/close screw Actuator cable Side cover L Left Finger L Finger guide Guide cover L Front Rear Guide cover R Finger R Right Frame Side cover R...
  • Page 21 4. Two-finger Type with High Gripping Force: GRHM/GRHB Open/close screw Side cover L Left Finger L Guide base Front Rear Finger R Frame Side cover R Open/close screw Connector...
  • Page 22 5. Two-finger Long-stroke Type: GRST Top cover Actuator cable Open/close Finger L Finger R Front screw Left Right Side cover C Side cover P Rear Frame...
  • Page 23 6. Three-finger Slide Type: GR3SS/GR3SM Left Right Actuator cable Guide base Finger A Rear cover Finger B Front Rear Bottom Finger C Motor cover Main cover Frame Open/close screw Close direction Open direction...
  • Page 24 7. Three-finger Lever Type: GR3LS/GR3LM Left Front cover Right Actuator cable Finger A Rear cover Finger B Rear Front Bottom Finger C Motor cover Main cover Frame Open/close screw Close direction Open direction...

  • Page 25: Specifications Check

    Specifications Check 1.1 Checking the Product The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor. 1.1.1 Parts Name...

  • Page 26: How To Read The Model Nameplate

    NM : Reversed-home specification <Type> able exit direction changed CJT : C Small Slim Two-finger Slide Type: (Top) GRSS CJR : Cable exit direction changed Small Slim Two-finger Lever Type: (Right) GRLS CJL : Cable exit direction changed Small and Medium Two-finger Type:...

  • Page 27: Specifications

    Common Small Two-finger Medium Two-finger Small Slim Two-finger Type Type Type Slide type Lever type Slide type GRSS GRLS 8 mm 180 deg 10 mm 14 mm Open/Close Stroke (4 mm per side) (90 deg per side) (5 mm per side)
  • Page 28 Long-stroke Type Slide type GRST GRST High-velocity Type Standard type (Gear ratio: 1) (Gear ratio: 2) 40 mm 60 mm 80 mm 100 mm Open/Close Stroke (20 mm (30 mm (40 mm (50 mm per finger) per finger) per finger) per finger) Maximum Gripping Force 20 N...

  • Page 29: Relation Between The Current Limit Value And The Grip Force

    * The gripping force shown in the graphs below indicates a sum of gripping forces of both fingers. ● Small Slim Two-finger Slide Type (GRSS) ● Small Slim Two-finger Lever Type (GRLS) Current-limiting value [%]...
  • Page 30 ● Small and Medium Two-finger Type (GRS/GRM) Current-limiting value [%] Current-limiting value [%]...
  • Page 31 ● Two-finger Type with High Gripping Force (GRHM/GRHB) GRHM GRHB Current-limiting value [%] Current-limiting value [%]...
  • Page 32 ● Two-finger Long-stroke Type (GRST) * The gripping force shown in the graphs below indicates a sum of gripping forces of both fingers. Standard type High-speed type Current-limiting value [%] Current-limiting value [%]...
  • Page 33 ● Three-finger Slide Type (GR3SS/GR3SM) GR3SS GR3SM Current-limiting value [%] Current-limiting value [%]...
  • Page 34 ● Three-finger Lever Type (GR3LS/GR3LM) GR3LS GR3LM Current-limiting value [%] Current-limiting value [%] * The above values are calculated at a gripping point of 10 mm. The actual gripping force decreases in inverse proportion to the distance from the open/close fulcrum. Calculate the actual gripping force using the formula below: Effective gripping force (GR3LS) = F ×...
  • Page 35 Caution: (1) It is a reference when pressing performed with speed 5mm/s for Slide Type, and with 5deg/s for Lever Type. (2) The grip force is the values under the conditions stated below. ● Two-finger Type Slide Type: Total value of grip force of both slides at the top surface of the slides (gripping point = 0mm, overhang = 0mm) Lever Type: Total value of grip force of both slides at the top surface of the Levers (gripping point = 0mm, overhang = 0mm)

  • Page 36: Duty In Continuous Operation

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

  • Page 37: Operating Conditions

    Operating Conditions It is necessary to satisfy the conditions stated below to use the product. Conduct the following calculation to make sure it is satisfied. 1.3.1 Grippping Force [1] Slide Types Procedure 1 : Check for the necessary grip force and transportable work piece mass ↓...
  • Page 38 (2) In case of high acceleration/deceleration speed or a big impact is applied to the work piece during transportation High inertial force, in addition to the gravity, will be applied to the work piece. In such cases, consider an even higher safety factor if it is necessary. When high acceleration/deceleration speed or a big impact is applied;...
  • Page 39 Procedure 2 : Check for the vertical allowable load of the fingers and allowable moment Check the vertical load and the moment applicable to the finger. Figure out Fz, Ma, Mb and Mc by referring to (1) to (3) described below, and it is necessary to select a suitable model considering not to exceed the allowable values.
  • Page 40 Two-finger Gripper Fig. 2 Upper Limits of Gripping Point L and Overhang H of Two-finger Gripper GRHM, GRHB GRST GRSS Gripping point L [mm] Three-finger Gripper Fig. 3 Upper Limit of Gripping Point L Three-finger Gripper GR3SS ⇒ L50 mm or less...
  • Page 41 Table 1: Allowable Load and Allowable Moment on the Fingers (Note 1) Max. Allowable Moment [N•m] (Note 2) Allowable Load in Vertical [N] Model Zmax amax bmax cmax GRSS GRHM 11.7 16.7 46.5 GRHB 15.7 26.4 59.8 GRST 2.93 2.93...
  • Page 42 (2) Moment generated on the fingers due to an external force External force as well as gripping force will be applied to the work piece and the finger attachment in the movements such as moving straight or turning in the condition of the gripper being attached on a Cartesian Robot, Articulated Robot or other actuators.
  • Page 43 [2] Lever Types Procedure 1 : Check for the necessary gripping force and transportable work piece mass ↓ Procedure 2 : Check for the moment of inertia on the finger attachment ↓ Procedure 3 : Check for the external force applied on finger Procedure 1 : Check for the necessary gripping force and the transportable work piece mass F / 2...
  • Page 44 (Note 1) Table 2: Allowable Moment of Inertia on the Finger (3) All Moments of inertia for Z-axis (fulcrum) Turning Allowable Moment of Mass : Distance from center of gravity of A to the Model Inertia (Reference) finger open/close fulcrum [mm] [kg•m Max [kg] : Distance from center of gravity of B to the...
  • Page 45 Torque generated on the fingers due to an (Note 1) Table 3: Allowable Load Torque on the Finger external force Model Max. Allowable Load Torque T [N•m] ＝ F × 10 × 10 GRLS 0.05 GR3LS Confirm that the value figured out with the formula GR3LM above is below the maximum allowable load Note 1 The table shows the values for allowable...

  • Page 46: Reversed-Home Specification (Model: Nm)

    IAI for adjustment. 1.4.2 Shaft Bracket (Model: SB) It is a fixing bracket to attach the gripper body. For GRSS/GRLS Model code of single product : RCP2-SB-GRSS ± 0.05 4-φ3.4 drilled hole 0.010 -φ...

  • Page 47: Flange Bracket (Model: Fb)

    0.05 (15) ± 0.05 φ 3- 4.5 1.4.3 Flange Bracket (Model: FB) It is a bracket to fix the gripper body. For GRSS/GRLS Model code of single product : RCP2-FB-GRSS M4-6H +0.010 2- φ3 H7 depth 4 4-φ3.4 drilled hole...
  • Page 48 For GRS For GRM Model code of single product : RCP2-FB-GRS Model code of single product : RCP2-FB-GRM ) depth 4 ) depth 4 (back surface) (back surface) φ3 +0.012 φ3 +0.012 φ10H 8 +0.022 φ10H 8 +0.022 3- φ 4.5 3- φ...

  • Page 49: Cable Eject Direction Changed (Model: Cjt, Cjr, Cjl, Cjb)

    1.4.4 Cable Eject Direction Changed (Model: CJT, CJR, CJL, CJB) Application GRHM/GRHB If a change in the cable ejection direction is made, the direction of cable ejection will be changed. There are four types of ejection directions, top (model code: CJT), right (model code: CJR), left (model code: CJL) and bottom (model code: CJB).

  • Page 50: Motor • Encoder Cables

    1.5 Motor • Encoder Cables 1.5.1 Small Slim Two-finger Slide Type (GRSS), Small Slim Two-finger Lever Type (GRLS), Two-finger Long-stroke Type (GRST), Two-finger Type with High Gripping Force (GRHM/GRHB) [PSEL and PCON Controller (Except for PCON-CA)] 1) Motor • Encoder Integrated Cables Robot Type Model: CB-PCS-MPA□□□...
  • Page 51 [PCON-CA, PMEC, PSEP and MSEP Controller] 1) Motor • Encoder Integrated Cables Robot Type Model: CB-APSEP-MPA□□□ / CB-APSEP-MPA□□□-LC ( □□□ indicates the cable length L Example: 020 = 2m), up to 20m (18) (10) (45) (Front view) Actuator side Controller side Actuator side Controller side Terminal No.

  • Page 52: Small And Medium Two-Finger Type (Grs/Grm), Three-Finger Slide Type (Gr3Ss/Gr3Sm), Three-Finger Lever Type (Gr3Ls/Gr3Lm)

    1.5.2 Small and Medium Two-finger Type (GRS/GRM), Three-finger Slide Type (GR3SS/GR3SM), Three-finger Lever Type (GR3LS/GR3LM) [PSEL, PCON controller (Except for PCON-CA)] 1) Motor Cable Model: CB-RCP2-MA□□□ ( □□□ indicates the cable length L Example: 020 = 2m), up to 20m (20) (20) (14)
  • Page 53 [PCON-CA, PMEC, PSEP and MSEP Controller] 1) Motor • Encoder Integrated Cables Model: CB-PSEP-MPA□□□ ( □□□ indicates the cable length L Example: 020 = 2m), up to 20m (20) (15) (10) (15) (14) (Front View) Actuator Side Controller Side Actuator Side Controller Side Terminal No.

  • Page 54: Installation

    Installation Transportation [1] Handling of the Actuator Unless otherwise specified, the actuator is shipped with each axis unit packaged separately. (1) Handling the Packed Unit Do not damage or drop. The package is not applied with any special treatment that enables it to resist an impact caused by a drop or crash.
  • Page 55 [2] Handling in the Assembled Condition This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base.

  • Page 56: Installation And Storage • Preservation Environment

    2.2 Installation and Storage • Preservation Environment [1] Installation Environment The actuator should be installed in a location other than those specified below. Also provide sufficient work space required for maintenance inspection. Where the actuator receives radiant heat from strong heat sources such as heat treatment furnaces Where the ambient temperature exceeds the range of 0 to 40°C Where the temperature changes rapidly and condensation occurs...

  • Page 57: How To Install

    2.3 How to Install This chapter explains how to install the actuator on your mechanical system. 2.3.1 Installation : Possible × : Not possible Horizontal Sideways Ceiling Mount Vertical installation installation installation installation Installation Orientation Horizontal Vertical Sideways Ceiling Mount...

  • Page 58: Installation Of The Main Unit

    They may damage the mechanical or electrical parts inside the gripper.) • Round and elongated holes are provided in each mounting surface for receiving positioning pins. Use these holes as necessary. [1] GRSS The actuator can be mounted and affixed on five surfaces. + 0.03 2-φ 3 depth 3...
  • Page 59 [2] GRLS The actuator can be mounted and affixed on five surfaces. + 0.03 2-φ 3 depth 3 (Same on opposite side) 8-M3 depth 5 (Same on opposite side) + 0.05 depth 3 (Same on opposite side) + 0.03 + 0.03 2-φ...
  • Page 60 [3] GRS Installation surface Installation surface + 0.03 2-φ 3 depth 2.5 (Same on back side) 4-M 4 depth 7 (Same on back side) 4-M 4depth 6 + 0.03 φ 3 depth 2.5 + 0.05 2- 3 depth 2.5 Rear (Same on back side) Caution: Some of the tapped holes used for installing the gripper are through holes.
  • Page 61 [4] GRM Installation surface Installation surface + 0.03 2-φ 3 depth 2.5 (Same on back side) 4-M4 depth 8 (Same on back side) 4-M 4depth 6 + 0.03 φ 3 depth 2.5 + 0.05 depth 2.5 (Same on back side) Rear Caution: Some of the tapped holes used for installing the gripper are through holes.
  • Page 62 [7] GRST st: Stroke 40, 60, 80, 100 st+ 90 st+ 89 st/2+ 51.5 st/2+ 37.5 st/2 st/2 2-M4 depth 6 (Same on back side) Installation + 0.03 surface φ depth 3 (Same on back side) 4-M4depth 5 + 0.05 depth 3 + 0.03 φ...
  • Page 63 [5] GRHM Installation surface depth 5 Installation surface (same on the opposite side) 2-M5, depth 10 (same on the opposite side) 4-M5, depth 8 depth 5 long hole depth 5 (same on the opposite side) Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long screws exceeding...
  • Page 64 [6] GRHB Installation surface depth 6 (same on the opposite side) Installation surface 2-M6, depth 12 (same on the opposite side) 4-M6, depth 10 depth 6 long hole depth 6 (same on the opposite side) Caution: Some of the tapped holes used for installing the gripper are through holes. Therefore, never use long screws exceeding...
  • Page 65 [8] GR3SS Detail view of A (2:1) + 0.03 2- φ3 depth 3 (Same on back side) 3-M 4(Effective depth 6) 4- φ 4.5 Blank plug 4- M 5 depth8 (Use holes in (Set screw M4 x 5) (Same on the flange) back side) + 0.05...
  • Page 66 [9] GR3SM Detail view of A (2:1) 4- φ 5.5 (Use holes in the flange) 3-M 5(Effective depth 7) + 0.03 2- φ 3 depth 3 Blank plug (Same on back side) (Set screw M5 x 6) 4-M 6depth12 (Same on back side) + 0.05 depth 3...
  • Page 67 [10] GR3LS Detail view of A (2:1) + 0.03 50.5 2- φ3 depth3 3-M 4(Effective depth 6) (Same on back side) Blank plug 4- φ 4.5 (Set screw M4 x 5) 4-M 5 depth8 (Use holes in (Same on the flange) back side) + 0.05 depth 3...
  • Page 68 [11] GR3LM 4- φ 5.5 Detail view of A (2:1) (Use holes in the flange) + 0.03 2- φ 3 depth3 3-M 5(Effective depth 7) (Same on back side) Blank plug 4-M 6depth 12 (Set screw M5 x 6) (Same on back side) + 0.05 depth 3...

  • Page 69: Gripper Brackets (Optional)

    2.3.3 Gripper Brackets (Optional) Optional brackets that can be installed on the rear face of the gripper are available. The external dimensions of each optional bracket are shown below. [1] GRSS/GRLS ± 0.05 Shaft bracket Flange bracket * If a flange bracket is used, it is recommended...
  • Page 70 [2] GRS Shaft bracket Flange bracket [3] GRM Shaft bracket Flange bracket...
  • Page 71 [4] GRHM Shaft bracket Flange bracket [5] GRHB Shaft bracket Flange bracket...
  • Page 72 [6] GR3SS/GR3LS (15) ± 0.05 ± 0.05 ( 25) Shaft bracket Flange bracket [7] GR3SM/GR3LM ± 0.05 ( 15 ) ± 0.05 ( 25 ) Flange bracket Shaft bracket...

  • Page 73: Installation Of Finger Attachments

    2.3.4 Installation of Finger Attachments The finger attachments are provided by the customer. [1] Installation dimensions for finger attachments ● GRSS 2-M3 depth 4 -0.05 ● GRLS + 0.03 depth 2.5 2- φ 4 4-M4 througs...
  • Page 74 ● GRS depth 8 ● GRM depth 8...
  • Page 75 ● GRHM 4-M4, depth 6 depth 5 Home Do not use the screw holes at the center of the finger. Home ● GRHB 4-M4, depth 6 depth 5 Home Do not use the screw holes at the center of the finger. Home...
  • Page 76 ● GRST 4-M3 depth 5 12± 0.05 + 0.03 depth 3 φ 3 MIN 6...
  • Page 77 ● GR3SS depth 5 ● GR3SM depth 6...
  • Page 78 ● GR3LS ● GR3LM...
  • Page 79 It is also recommended that a clearance of 3 mm or more be provided between the attachments so that the gripped work part can be removed by turning the opening/closing screw in the event of power outage. ● GRSS Positioning pin...
  • Page 80 To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. ● GRLS Shoulder contact surface Positioning in open/close direction Finger attachment Lever...
  • Page 81 To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. ● GRS/GRM Positioning pin Positioning in open/close directions Finger attachment...
  • Page 82 To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. ● GRHM/GRHB Positioning pin Finger attachment Affixing bolt Positioning pin...
  • Page 83 To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. ● GRST Vertical directions Finger attachment Positioning pin Positioning in open/...
  • Page 84 To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. ● GR3SS/GR3SM Shoulder contact surface Positioning in vertical directions Affixing bolt Finger...
  • Page 85 To achieve higher installation precision and repeatability for finger attachments, it is recommended that each finger attachment be positioned by sandwiching the attachment between the positioning pin and the side face of the finger, as illustrated below. ● GR3LS/GR3LM During home return, the fingers bounce outward by 1 degree after reaching the home position, and then return to the home position.

  • Page 86: Connecting With The Controller

    • PCON (Except for PCON-CA) (Note) The bending radius of CB-PCS-MPA□□□ is that after the cables have changed. The value before changing is different. Dedicated connection cable GRSS/GRLS • Motor • Encoder Integrated Cables : CB-PCS-MPA□□□ GRS/GRM/GR3SS/GR3SM/GRLS/GRLM • Motor cable : CB-RCP2-MA□□□...
  • Page 87 • CB-APSEP-MAP□□□-LC r = 34mm or more (Fixed Use) • MSEP • PMEC • PSEP Dedicated connection cable RCP2-GRSS/GRLS • Motor • Encoder Integrated Robot Cables : CB-APSEP-MPA□□□ • Motor • Encoder Integrated Cables : CB-APSEP-MPA□□□-LC GRS/GRM/GR3SS/GR3SM/GR3LS/GR3LM • Motor • Encoder Integrated Robot Cables : CB-PSEP-MPA□□□...
  • Page 88 Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.
  • Page 89 • Do not let the cable bend, kink or twist. • Do not pull the cable with a strong force. • Pay attention not to concentrate the twisting force to one point on a cable. • Do not pinch, drop a heavy object onto or cut the cable. •...
  • Page 90 • PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct. Power line Duct I/O lines (flat cable) Follow the instructions below when using a cable track.

  • Page 91: Operation

    The open side moving end of the finger is the home position. The home position is on the closing end for the home reversed type (NM). Caution: Finger of GRSS becomes wider than the motor cover width (M) upon home return, so watch out for interference with gripper bracket, etc.
  • Page 92 ● Two-finger Type Finger GRSS GRLS Stroke 8 mm 180° Travel distance per side 4 mm 90° L1/Angle Distance between fingers Max. 13.5 mm/ Max. 180°/ L2/Angle Min. 5.5 mm Min. 0° Stroke 14 mm 10 mm Travel distance per side L1...

  • Page 93: Removal Of Gripped Work Part

    If the gripped work part must be removed while the controller power is cut off, turn the opening/closing screw or remove the finger attachment on one side to release the work part. ● Small Slim Two-finger Slide Type (GRSS) ● Small Slim Two-finger Lever Type (GRLS) Turn the opening/closing screw clockwise or remove the finger attachment on one side.
  • Page 94 ● Three-finger Type (GR3SS/GR3SM, GR3LS/GR3LM) Remove one finger attachment. Finger attachment Affixing bolt ● Two-finger Long-stroke Type (GRST) Open directions Open/close screw Turn the screw counterclockwise Finger attachment using a screwdriver. Affixing bolt Caution: • If the gripped work part must be removed while the controller power is cut off, turn the opening/closing screw or remove the finger attachment on one side to release the work part.

  • Page 95: Maintenance And Inspection

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

  • Page 96: Visually Inspecting The Exterior

    Medium Type 5.4.1 Guide, Finger and Finger Guide Applicable models for grease supply on fingers and finger guides : GRSS, GRS, GRM [1] Applicable Greases IAI uses the following grease in our plant. Idemitsu Kosan Daphne Eponex Grease No. 2 Other companies also sell similar types of grease.
  • Page 97 3) Spread out the grease evenly on the fingers and finger guides with hand for GRSS (for rust prevention treatment) Grease application Caution: In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.
  • Page 98 ● Small and Medium Two-finger Type (GRS/GRM) 1) Use a flathead screwdriver to turn the opening/closing screw on side cover L to move the fingers toward the stroke center. Open/close screw Finger 2) Spray grease in the gap (on the steel balls) between the Finger guide finger and finger guide (4 locations;...
  • Page 99 ● Two-finger Type with High Gripping Force (GRHM/GRHB) 1) Use a flathead screwdriver to turn the opening/closing screw on side cover to move the fingers toward the stroke center. Open/close screw Finger 2) Spray grease in the gap (on the steel balls) between the Finger guide finger and finger guide (4 locations;...

  • Page 100: Feed Screw Small And Medium Two-Finger Type (Grs/Grm)

    5.5 Feed Screw Small and Medium Two-finger Type (GRS/GRM) [1] Applicable Greases IAI uses the following grease in our plant. Idemitsu Kosan Daphne Eponex Grease No. 2 Use lithium spray grease during maintenance. Take note that grease should not be sprayed for more than 1 second.
  • Page 101 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 × 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.
  • Page 102 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. Guide cover R Guide cover L 7) Install and securely affix side covers R and L. When affixing side cover L, be careful not to pinch the cables.

  • Page 103: Two-Finger Type With High Gripping Force (Grhm/Grhb)

    Two-finger Type with High Gripping Force (GRHM/GRHB) [1] Applicable Greases Synthetic poly-α olefin grease has been charged to the feed screw prior to shipment. The following grease is applied to the feed screw before the gripper is shipped from the factory. Lubricant by Sumitomo Metal Mining Sumitec 308 Other manufacturers also offer equivalent products, but exercise caution when using a different product...
  • Page 104 2) Turn the opening/closing screw to move the fingers to their stroke ends on the closed side. 3) Use a grease syringe to charge grease from the opening on the right side so as to coat the feed screw with grease. After the feed screw has been coated with grease roughly, turn the opening/closing screw to move the fingers back and forth several times to spread grease evenly.

  • Page 105: Greasing The Two-Finger Long-Stroke Type (Grst)

    Greasing the Two-finger Long-stroke Type (GRST) 5.7.1 Greasing to the Feed Screw (Worm/Rack Gears) [1] Applicable Greases The following grease is applied to the guide before the gripper is shipped from the factory. Idemitsu Kosan Daphne Eponex Grease No. 2 During maintenance, use spray-type lithium grease.

  • Page 106: Greasing To The Guide

    5.7.2 Greasing to the Guide [1] Applicable Greases The following grease is applied to the guide before the gripper is shipped from the factory. Idemitsu Kosan Daphne Eponex Grease No. 2 During maintenance, use spray-type lithium grease. Do not spray grease for more than 1 second. WAKO CHEMICAL, LTD.
  • Page 107 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 Gaps left and right guide blocks. Do not spray grease for more than 1 second in each location.
  • Page 108 Caution: • Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of grease will drop and the machine may suffer damage due to increased friction. • Do not use spray oil. Be sure to use spray grease. Keep the spray time to a maximum of 1 second, and never spray more than once.

  • Page 109: Grease Supply For Three-Fingered Slide Type (Gr3Ss/Gr3Sm)

    Grease Supply for Three-Fingered Slide Type (GR3SS/GR3SM) 5.8.1 Greasing the Guide, Finger and Finger Guide [1] Applicable Greases IAI uses the following grease in our plant. Idemitsu Kosan Daphne Eponex Grease No. 2 Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second. WAKO CHEMICAL, LTD.

  • Page 110: Greasing The Gears

    5.8.2 Greasing the Gears [1] Applicable Greases IAI uses the following grease in our plant. GearsKyodo Yushi Multemp AC-D No. 2 Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second. WAKO CHEMICAL, LTD. Spray Grease No.

  • Page 111: Grease Supply For Three-Fingered Lever Type (Gr3Ls/Gr3Lm)

    Grease Supply for Three-Fingered Lever Type (GR3LS/GR3LM) 5.9.1 Greasing the Gears [1] Applicable Greases IAI uses the following grease in our plant. GearsKyodo Yushi Multemp AC-D No. 2 Use lithium spray grease. Take note that grease should not be sprayed for more than 1 second. WAKO CHEMICAL, LTD.

  • Page 112: External Dimensions

    6. External Dimensions GRSS φ depth 3 (Same on opposite side) depth 5 (Same on opposite side) depth 3 (Same on opposite side) φ depth 3 (Same on opposite side) depth 3 depth 4 depth 5 depth 5 (Same on opposite side)

  • Page 113: Grls

    GRLS + 0.03 2- φ 3 depth 3 (Same on opposite side) 8-M3 depth 5 (Same on opposite side) + 0.05 depth 3 (Same on opposite side) + 0.03 + 0.03 + 0.03 2- φ4 depth 2.5 2- φ3 depth 3 φ...

  • Page 114: Grs

    6.3 GRS + 0.03 depth 2.5 2 -φ 3 (Same on opposite side) 2-M4 depth 8 + 0.03 φ 3 depth 2.5 -0.05 4-M4 depth 7 4-M4 depth 6 (Same on opposite side) + 0.05 2- 3 depth 2.5 (Same on opposite side) Mass [kg]...

  • Page 115: Grm

    + 0.03 depth 2.5 2 - φ 3 (Same on opposite side) 2-M5 depth 8 4-M4 depth 8 -0.05 + 0.03 φ 3 depth 2.5 (Same on 4-M4 depth 6 opposite side) + 0.05 depth 2.5 (Same on opposite side) Mass [kg] 0.58...

  • Page 116: Grhm

    GRHM 4-M4depth 6 φ4 +0.012 depth 5 (Same on opposite side) 4-M5 depth 8 49.5 2-φ4 +0.012 depth 5 2-M5 depth 10 (Same on opposite side) HOME ST=16 ST=16 φ4 +0.012 depth 5 HOME long hole depth 5 (Same on opposite side) +0.012 61.9 43.1...

  • Page 117: Grhb

    GRHB depth 6 4-M4 (Same on opposite side) φ 5H7 depth 6 +0.012 2-φ4 depth 5 +0.012 2-M6 depth 12 (Same on opposite side) 4-M6 depth 10 HOME ST=20 ST=20 φ5H7 depth 6 +0.012 HOME +0.012 long hole depth 6 (Same on opposite side) 63.4 54.6 14.8...

  • Page 118: Grst

    GRST depth 5 + 0.03 φ depth 3 φ Unlocking screw depth 6 (Same on opposite side) + 0.05 depth 3 φ (Same on opposite side) + 0.03 depth 3 φ + 0.05 depth 3 depth 5 Stroke 71.5 81.5 91.5 101.5 57.5...

  • Page 119: Gr3Ss

    GR3SS depth 5 φ 9 counterbore, depth 3 φ 3-M4 (Effective depth 6) depth 1.5 (Same on back φ M8 (Effective depth 6) Installation side) Blank plug (Set screw M4 x 5) surface depth 8 (Same on back Installation surface side) Installation surface (Same on...

  • Page 120: Gr3Sm

    GR3SM depth 6 φ 9 counterbore, depth 1.5 φ M8 (Effective depth 6) 3-M5 (Effective depth 7) depth 3 Blank plug (Set screw M5 x 6) φ (Same on back Installation Installation side) depth 12 surface surface (Same on back side) depth 3 (Same on back side) Installation surface...

  • Page 121: Gr3Ls

    6.10 GR3LS φ Installation (Effective depth 4) surface 3-M4 (Effective depth 6) depth 3 φ Blank plug (Set (Same on back side) φ screw M4 x 5) depth 8 Installation surface (Same on back side) Installation surface (Same on depth 3 opposite side) (Same on back side) Mass [kg]...

  • Page 122: Gr3Lm

    6.11 GR3LM φ (Effective depth 4) Installation φ surface depth 3 φ 3-M5 (Effective depth 7) Blank plug (Set screwM5 x 6) (Same on back side) Installation depth 12 surface (Same on back side) Installation surface (Same on opposite side) depth 3 (Same on back side) Mass [kg]...

  • Page 123: Warranty

    Warranty Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 months after delivery to the specified location 2,500 hours of operation Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 124: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.

  • Page 125: Change History

    November 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...
  • Page 126 Revision Date Description of Revision August 2015 Edition 11D • Page 22 Change made to GR3SM max. open/close velocity 40mm/s → 50mm/s • Page 44 Change made to wire color • Page 80 Change made to bending radius August 2015 Edition 11E •...
  • Page 128 Manual No.: ME3627-11J (May 2018) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicago Office: 110 East State Parkway, Schaumburg, IL 60173 TEL (847) 908-1400 FAX (847) 908-1399 Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066...

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