Product feature
Attachment orientation
Main specification
| Heading | Contents | ||
|---|---|---|---|
| Lead | Feed screw lead (mm) | 8 | 2 |
| Gripping Motion | Max. Gripping Force (N)(Both sides) | 110 | 310 |
| Max. Gripping Speed (mm/s)(Per side) | 10 | 5 | |
| Approaching Motion | Max. Speed (mm/s)(Per side) | 180 | 45 |
| Min. Speed (mm/s)(Per side) | 10 | 5 | |
| Rated Acceleration/Deceleration (G)(Per side) | 0.3 | 0.3 | |
| Max. Acceleration/Deceleration (G)(Per side) | 0.3 | 0.3 | |
| Brake | Brake specification | Non-excitation electromagnetic brake | |
| Brake retention force (kgf) | 5.5 | 15.5 | |
| Stroke (Per side) | Min. Stroke (mm)(Per side) | 90 | 90 |
| Max. Stroke (mm)(Per side) | 115 | 115 | |
| Heading | Contents |
|---|---|
| Drive system | Timing belt + Right/Left trapezoidal screw |
| Accuracy of Repeating Positioning. | ±0.01mm |
| Backlash | Lead 8mm: 0.3mm or less per side, Lead 2mm: 0.25mm or less per side |
| Lost motion | Lead 8mm: 0.3mm or less per side, Lead 2mm: 0.25mm or less per side |
| Base | Base: Aluminum, with white alumite treatment |
| Linear guide | Infinite linear circulation type |
| Allowable static moment value | Ma：48N･m |
| Mb：69N･m | |
| Mc：103N･m | |
| Dynamic allowable moment (Note2) | Ma：11N･m |
| Mb：16N･m | |
| Mc：24N･m | |
| Allowable thrust load (Vertical payload) | 1080N |
| Ambient operating temperature and humidity | 0 - 40℃, RH 85% and below (no condensation) |
| Protection grade | IP20 |
| Vibration resistant/Shock resistant | 4.9m/s2 |
| Compatible to overseas standards | CE mark, RoHS compliant |
| Motor type | Pulse motor |
| Encoder type | Battery-less absolute |
| Encoder pulse No. | 8192 pulse/rev |
| Delivery | Written in [Reference for delivery] section of the homepage |
(Note2) Assumes a standard rated life of 5,000km. Life time travelling distance differs based on operating condition and attached condition.
Please check the running life at 1-180.
Direction of the Moment for Slider Type
Checking the Gripping Point Distance
Make sure that the distance (L, H) from the finger (claw) mounting surface to the gripping point is within the range of the graph.
(Note) If the limit range is exceeded, an excessive moment will be applied to the finger sliding part and the internal mechanism, which may adversely affect the service life.
Lead 8
Lead 2
Correlation Diagram of Gripping Force and Current Limit Value
Lead 8
(Note) The gripping force in the graph is the total value of both fingers when the gripping point distance (L, H) is 0.
Lead 2
Adaptive controller
The actuators introduced in this page are controllable using the controllers shown below. Please select their type based on intended usage.
| Name | Appearance | Max. connectable axis No. | Power source voltage | Control method | Maximum positioning points | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Positioner | Pulse train | Program | Network *Select | ||||||||||||||||
| DV | CC | CIE | PR | CN | ML | ML3 | EC | EP | PRT | SSN | ECM | ||||||||
| MCON-C/CG |  | 8 | DC24V | － | － | － | ● | ● | ● | ● | ● | － | ● | ● | ● | ● | ● | ● | 256 |
| MSEL-PC/PG |  | 4 | Single phase AC 100 - 230V | － | － | ● | ● | ● | － | ● | － | － | － | ● | ● | ● | － | － | 30000 |
| PCON-CB/CGB |  | 1 | DC24V | ● *Selectable | ● *Selectable | － | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | － | － | 512 (768 for network specification) |
| PCON-CYB/PLB/POB |  | 1 | ● *Selectable | ● *Selectable | － | － | － | － | － | － | － | － | － | － | － | － | － | 64 | |
| RCON |  | 16 | － | － | － | ● | ● | ● | ● | － | － | － | ● | ● | ● | － | － | 128 | |
| RSEL |  | 8 | － | － | ● | ● | ● | ● | ● | － | － | － | ● | ● | ● | － | － | 36000 | |
(Note) Refer to page 7-17 for network abbreviations such as DV and CC.
(Note) For the built-in controller of RCP6S series, see page 7-103.
Important notes on selection
 | (1) The maximum opening/closing speed of the "Main specification" indicates the operating speed of one side. The relative operating speed is twice this value. (2) The maximum gripping force of the "Main specification" is the total value of the gripping force of both sliders of the upper surface of the slider (grip position 0mm, overhang amount 0mm). (3) The variation in the "Correlation Diagram of Gripping Force and Current Limit Value" is ± 25% (F.S.) (as a reference). (4) The reference value for the overhang load length is 300mm or less in the Ma, Mb, and Mc directions. For the overhang load length, please see the figure on page 1-16. (5) Lead 2 maintains the workpiece gripping force by self-locking even when the servo is turned off or the controller power is cut off. Self-lock feature is unavailable for lead 8. (6) The high output setting of the controller is can only be set to invalid. |
Dimension drawing
RCP6-GRST6R
ST: Opening/Closing Stroke
M.E.: Mechanical end
S.E.: Stroke end
※1 At homing, both sliders will move to M.E., so be careful of interference with surrounding objects.
※2 Both sliders operate in opposite directions at the same time.
(Note) When fixing the main body using the counterbore, remove the motor cover before removing the side cover.
(Note) Diagram below shows the left reversing type motor (ML).
Dimension by stroke length
| Stroke | 180 | 230 | |
|---|---|---|---|
| L | Without brake | 470.5 | 520.5 |
| With brake | |||
| A | 443 | 493 | |
| B | 422 | 472 | |
| F | 75 | 100 | |
| J | 213 | 238 | |
Mass by stroke length
| Stroke | 180 | 230 | |
|---|---|---|---|
| Mass (kg) | Without brake | 3.5 | 3.6 |
| With brake | 3.5 | 3.7 | |
RCP6S-GRST6R
ST: Opening/Closing Stroke
M.E.: Mechanical end
S.E.: Stroke end
※1 At homing, both sliders will move to M.E., so be careful of interference with surrounding objects.
※2 Both sliders operate in opposite directions at the same time.
(Note) When fixing the main body using the counterbore, remove the motor cover before removing the side cover.
(Note) Diagram below shows the left reversing type motor (ML).
Dimension by stroke length
| Stroke | 180 | 230 | |
|---|---|---|---|
| L | Without brake | 470.5 | 520.5 |
| With brake | |||
| A | 443 | 493 | |
| B | 422 | 472 | |
| F | 75 | 100 | |
| J | 213 | 238 | |
Mass by stroke length
| Stroke | 180 | 230 | |
|---|---|---|---|
| Mass (kg) | Without brake | 3.6 | 3.8 |
| With brake | 3.7 | 3.8 | |
