IAI 05 RC General CJ0203-2A P371-416 Gripper

RCP2 ROBO Cylinder RCP2 ROBO Cylinder
371 Gripper Type / Rotary Type

Gripper Type / Rotary Type
RCP2
RCS2
RCP2-GRSS
RCS2-RT6
RCP2-GRHM
RCP2-GRLS
RCS2-RTC10L
RCP2-GR3SS RCP2-GRHB
RCP2-GRS
RCS2-RTC12L
RCS2-GR8
RCP2-GRM RCP2-GRST
RCP2-
RTBS/RTBSL
RCS2-
RTC8L/RTC8HL
RCP2-
RTB/RTBL
RCP2-
RTBB/RTBBL
RCP2-
RTCS/RTCSL
RCP2-
RTC/RTCL
RCP2-
RTCB/RTCBL
RCP2-GR3LS
Gripper Type / Rotary Type 372
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
RCP2
series
Pulse
Motor
Type
2-Finger Gripper Mini Slider Type
42mm Width RCP2-GRSS 373
Mini Lever Type
42mm Width RCP2-GRLS 375
Small Slider Type
69mm Width RCP2-GRS 377
Medium Slider Type
74mm Width RCP2-GRM 379
Long Stroke Slider Type
130mm Width RCP2-GRST 381
190mm Width
Medium High-force Gripper
116mm Width RCP2-GRHM 383
Large High-force Gripper
131mm Width RCP2-GRHB 385
3-Finger Gripper Lever Type
62mm Width RCP2-GR3LS 387
80mm Width RCP2-GR3LM 389
Slider Type
62mm Width RCP2-GR3SS 391
80mm Width RCP2-GR3SM 393
RCS2
series
200V Servo
Motor Type
2-Finger Gripper Long Stroke Slider Type
104mm Width RCS2-GR8 395
284mm Width
RCP2
series
Pulse
Motor Type
Rotary Small Vertical Type
45mm Width RCP2-RTBS/RTBSL 397
Small Flat Type
72mm Width RCP2-RTCS/RTCSL 399
Medium Vertical Type
50mm Width RCP2-RTB/RTBL 401
Medium Flat Type
88mm Width RCP2-RTC/RTCL 403
Large Vertical Type
76mm Width RCP2-RTBB/RTBBL 405
Large Flat Type
124mm Width RCP2-RTCB/RTCBL 407
RCS2
series
200V Servo
Motor Type
Hollow Rotary Small Type
85mm Width RCS2-RTC8L/RTC8HL 409
Medium Type
99mm Width RCS2-RTC10L 411
Large Type
123mm Width RCS2-RTC12L 413
Rotary Straight Motor Type 64mm Width RCS2-RT6 415
~
~
RCP2 ROBO Cylinder
373 RCP2-GRSS
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Options
Name Option code See page Standard price
Non-motor end specification NM A-52
Flange bracket FB A-43
Shaft bracket SB A-55
Actuator Specifications
Item Description
Drive System Worm gear + helical gear + helical rack
Positioning repeatability 0.01mm
Backlash 0.2mm or less per side (constantly pressed out by a spring)
Lost motion 0.05mm or less per side
Guide Linear guide
Allowable static load moment Ma: 0.5 Nm, Mb: 0.5 Nm, Mc: 1.5 Nm
Weight 0.2kg
Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing)
Actuator Specifcations
Lead and Payload Stroke and Max. Opening/Closing Speed
Code explanation Applicable Controller Cable length Options
(Unit: mm/s)
Stroke
8
(mm)
Deceleration ratio
30
78
(per side)
Model number Deceleration Ratio
Maximum Gripping
Force (N)
Stroke
(mm)
RCP2-GRSS-I-20P-30-8- - -
30
14
(7 per side)
8
(4 per side)
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed
is twice this value.
(2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there
is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction
coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough
guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.)
(3) The rated acceleration while moving is 0.3G.
G
r
i
p
p
i
n
g

f
o
r
c
e

(
N
)
Current Limit (% ratio)
0
0 10 20 30 40 50 60 70
2
4
6
8
10
12
14
16
L2
L
1
Gripping Force vs. Current Limit
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
* Operate with the L1 distance up to 40mm.
* The gripping force value in the graph below is when both
L1 and L2 are at 0 mm. (For gripping force reference per
L1 distance, see page A-87.)
The gripping force value is the sum of gripping forces of
both fingers.
* The gripping force graph above shows reference numbers.
Please allow margins up to 15%.
* Please note that, when gripping (pushing), the speed is fixed at
5mm/s.
Stroke
Stroke
(mm)
Standard price
8
Appendix
P.5
RCP2-GRSS
ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 42mm, Pulse Motor
30 :1/30
deceleration
ratio
20P: Pulse motor,
20 size
I: Incremental
* The Simple absolute
encoder is also
considered type "I".
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom Length
Deceleration Ratio Stroke Cable length Options Type
GRSS
Encoder type
I
Motor type
20P
Applicable controller Series
RCP2
Model
Specifcation
Items
8: 8mm
(4mm per side)
* See page Pre-47 for details on the model descriptions.
NM: Non-motor end
FB: Flange bracket
SB: Shaft bracket
30 8
Type Cable symbol Standard price
Standard
(Robot Cables)
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
* The standard cable is the motor-encoder integrated robot cable.
* See page A-59 for cables for maintenance.
Cable Length
RCP2 ROBO Cylinder
RCP2-GRSS 374
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
4
1
3
.
9
2
43
47
(same for opposite side)
4
4
9
3
4
4-M3 depth 5
1
7
8-M3 dapth 5
8.5
17
8-M3 depth 5
8.5
17
3
5
4
2
24
M
I
N

5
.
5
M
A
X

1
3
.
5
2-M3 depth 4
1.5
71
4
.
2
5
+0.03
0
depth 3 2-3
+0.03
0
depth 3 2-3
+0.03
0
depth 3 3
+0.05
0
depth 3 3
+0.05
0
depth 3 2-3
- 0.05
0
9
+0.05
0
depth 3 2-3
Cable joint
connector*1
S
e
c
u
r
e

a
t

l
e
a
s
t

1
0
0
-
0
.0
1
0

0
2
-
3
h
7
(

)
Dimensional Drawings
Weight (kg) 0.2
*The opening side of the slider is the home position.
(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.
Name
External
view
Model number Features
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
PMEC-C-20PI- -2- Easy-to-use controller, even for beginners
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-20PI- -2-0
Simple controller operable with the same
signal as a solenoid valve
DC24V
Refer to
P555
P547
Solenoid valve multi-axis type
PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control,
allowing up to 8 axes to be connected
Refer to
P572
P563
Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type,
256 points
Positioner type
High-output specification
PCON-CA-20PI- -2-0
Equipped with a high-output driver
Positioner type based on PIO control
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-20PI-PL-2-0
Pulse-train input type
()
Field network type
PCON-CA-20PI- -0-0
Supporting 7 major field networks
768 points
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-20PI- -2-0
Pulse train input type with differential line
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-20PI- -2-0
Pulse train input type with open collector
support
Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication 64 points

Program
Control Type
PSEL-CS-1-20PI- -2-0
Programmed operation is possible.
Can operate up to 2 axes
1,500 points
Refer to
P671
P665
* This is for the single-axis PSEL. * indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V).
* indicates number of axes (1 to 8). * indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Applicable Controllers
Appendix
P.15
CAD drawings can be downloaded
from the website.
www.intelligentactuator.com
2D
CAD
2D
CAD
375 RCP2-GRLS
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
L
G
r
i
p
p
i
n
g

f
o
r
c
e

(
N
)
0
0 10 20 30 40 50 60 70
1
2
3
4
5
6
7
(Unit: degree/s)
Stroke
180
(deg)
Deceleration ratio
30
600
(per side)
Maximum Gripping
Force (N)
Stroke
(deg)
RCP2-GRLS-I-20P-30-180- - -
30
6.4
(3.2 per side)
180
(90 per side)
Options
Item Description
Drive System Worm gear + helical gear
Positioning repeatability 0.01deg.
Backlash 1 degree or less per side (constantly pressed out by a spring)
Lost motion 1 degree or less
Guide
Allowable static load moment
Weight 0.2kg
* The gripping force of the graph
below 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.
* Operate with the L distance
up to 40mm.
Stroke
Stroke
(deg)
Standard price
180
Appendix
P.5
Effective gripping force (GRLS ) = F x 15.5/ (L + 15.5)
* In the graph below, the gripping force value is the sum of
gripping forces of both fingers.
RCP2-GRLS
ROBO Cylinder, 2-Finger Gripper, Mini Lever Type, Actuator Width 42mm, Pulse Motor
30: 1/30
deceleration
ratio
20P: Pulse motor,
20 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom Length
GRLS
Encoder type
I
Motor type
20P
RCP2
Model
Specifcation
Items
180: 180
degrees
(90 degrees
per side)
NM: Non-motor end
FB: Flange bracket
SB: Shaft bracket
30 180
5 degrees/s.
Standard
(Robot Cables)
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Cable Length
RCP2-GRLS 376
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
9
9
1
8
4-M4 through
5
5
2
4
66.5
45
8-M3 depth 5
8-M3 depth 5
4
2
4-M3 depth 5
49 (same for opposite side)
4
4
8.5
17
3
5
1
7
17
4
9
3
4
73
15.5
M
I
N

0
M
A
X

1
8
0
36
18
S
e
c
u
r
e

a
t

l
e
a
s
t

1
0
0
Cable joint
connector*1
+0.03
0
depth 3 2-3
+0.03
0
depth 2.5 2-4 +0.03
0
depth 3 2-3 +0.03
0
depth 3 3
+0.05
0
depth 3 3
+0.05
0
depth 3 2-3
+0.05
0
depth 3 2-3
Weight (kg) 0.2
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-20PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-20PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-20PI-PL-2-0
()
Field network type
PCON-CA-20PI- -0-0
768 points
PCON-PL-20PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-20PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
377 RCP2-GRS
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
G
r
i
p
p
i
n
g

f
o
r
c
e

(
N
)
0
0 10 20 30 40 50 60 70
5
10
15
20
25
30
35
Options
Item Description
Drive System Timing belt + trapezoidal screw (1.5 lead)
Guide Cross roller guide
Weight 0.36kg
(Unit: mm/s)
Stroke
10
(mm)
Deceleration ratio
1
33.3
(per side)
Maximum Gripping
Force (N)
Stroke
(mm)
RCP2-GRS-I-20P-1-10- - -
1
21
(10.5 per side)
10
(5 per side)
Stroke
Stroke
(mm)
Standard price
10
Appendix
P.5
Cable Length
Type Cable symbol Standard Price
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
RCP2-GRS
ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 69mm, Pulse Motor
1 : 1/1
deceleration
ratio
20P: Pulse motor,
20 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom Length
R: Robot cable
GRS
Encoder type
I
Motor type
20P
RCP2
Model
Specifcation
Items
10: 10mm
(5mm per side)
SB: Shaft bracket
FB: Flange bracket
1 10
L2
L
1
L1 and L2 are at 0 mm. (For gripping force reference per
L1 distance, see page A-87.)
both fingers.
5mm/s.
RCP2-GRS 378
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
M
A
X

1
1
M
I
N

1
Cable joint
connector*1
+0.03
0 depth 2.5
2-3
+0.03
0
depth 2.5 3
+0.05
0
depth 2.5 2-3
+
0
.0
5

0
d
e
p
t
h

2
.
5
3
+
0
.0
3

0
4
- 0.05
0
10
3
0
68
71
21
2-M4 depth 8
4-M4 depth 6
2
4
S
e
c
u
r
e

a
t

l
e
a
s
t

1
0
0
4
4-M4 depth 7
1.5
24
7
9
2
9
2
8
(same for
opposite side)
2
1
3
5
6
9
2
4
3
6
Weight (kg) 0.36
(*1) Connect the motor and encoder cables here. See page A-59 for details on cables.
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-20PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-20PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-20PI-PL-2-0
()
Field network type
PCON-CA-20PI- -0-0
768 points
PCON-PL-20PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-20PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
The holes in the slider shown above, other than tapped holes,
are used to install the slider onto the actuator. They cannot be
used as finger positioning holes. Use the key slots to position
the fingers.
Note:
379 RCP2-GRM
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
0
0 10 20 30 40 50 60 70
20
40
60
80
100
120
140
G
r
i
p
p
i
n
g

f
o
r
c
e

(
N
)
(Unit: mm/s)
Stroke
14
(mm)
Deceleration ratio
1
36.7
(per side)
Options
Item Description
Drive System Timing belt + trapezoidal screw (1.5 lead)
Weight 0.5kg
Maximum Gripping
Force (N)
Stroke
(mm)
RCP2-GRM-I-28P-1-14- - -
1
80
(40 per side)
14
(7 per side)
Appendix
P.5
RCP2-GRM
ROBO Cylinder, 2-Finger Gripper, Medium Slider Type, Actuator Width 74mm, Pulse Motor
1 : 1/1
deceleration
ratio
28P: Pulse motor,
28 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom Length
R: Robot cable
GRM
Encoder type
I
Motor type
28P
RCP2
Model
Specifcation
Items
14: 14mm
(7mm per side)
SB: Shaft bracket
FB: Flange bracket
1 14
5mm/s.
L2
L
1
Stroke
(mm)
Standard price
14
Stroke
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
Cable Length
L1 and L2 are at 0 mm. (For gripping force reference per L1
distance, see page A-87.)
both fingers.
RCP2-GRM 380
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
76
79
2-M5 depth 8
4-M4 depth 6
1
1
.
5
2
5
M
A
X

1
5
M
I
N

1
3
5
7
4
S
e
c
u
r
e

a
t

l
e
a
s
t

1
0
0
3
6
3
4
4-M4 depth 8
1.5
25
7
5
2
8
2
4
3
6
(same for
opposite side)
2
2
24
Cable joint
connector*1
+0.03
0
depth 2.5 2-3
+0.03
0
depth 2.5 3
+0.05
0
depth 2.5 2-3
+
0
.0
5

0
d
e
p
t
h

2
.
5
3
+
0
.0
3

0
5
- 0.05
0
12
Weight (kg) 0.5
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-28PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-28PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-28PI-PL-2-0
()
Field network type
PCON-CA-28PI- -0-0
768 points
PCON-PL-28PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-28PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
The holes in the slider shown above, other than tapped holes,
are used to install the slider onto the actuator. They cannot be
used as finger positioning holes. Use the key slots to position
the fingers.
Note:
381 RCP2-GRST
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Item Description
Drive System Timing belt + worm/rack gear
Backlash 0.2mm or less per side
Lost motion
Guide Linear guide
Weight 0.51kg (40-stroke) ~ 0.66kg (100-stroke)
Leads and Payload Stroke and Max. Opening/Closing Speed
Code explanation Stroke Applicable Controller Cable length Options
(Unit: mm/s)
Stroke
40~100
(mm)
Deceleration ratio
1 75
2 34
Maximum Gripping
Force (N)
Stroke
(mm)
RCP2-GRST-I-20P-1- - - -
1
20
(10 per side) 40~100
(every 20mm )
RCP2-GRST-I-20P-2- - - -
2
40
(20 per side)
Appendix
P.5
Cable Length
Standard
(Robot Cables)
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Stroke
Stroke
(mm)
Standard price
40
60
80
100
Options
Cable exiting from bottom A0 A-41
Cable exiting from side A1 A-41
*Be sure to specify the side from which you want the cable to exit (A0 or A1).
RCP2-GRST
1: 1/1 deceleration
ratio
High-Speed Type
2: 1/2 deceleration
ratio
Standard Type
20P: Pulse motor,
20 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom
Length
GRST
Encoder type
I
Motor type
20P
RCP2
Model
Specifcation
Items
40 : 40mm
60 : 60mm
80 : 80mm
100 : 100mm
See Options below.
* Be sure to specify the
side from which you
want the cable to exit
(A0 or A1).
ROBO Cylinder, 2-Finger Gripper, Long Stroke Slide Type, Actuator Width 130~190mm,
Pulse Motor
Standard
High-Speed Type
0
0 10 20 30 40 50 60 80 70
5
10
15
20
25
40
45
30
35
G
r
i
p
p
i
n
g

f
o
r
c
e

(
N
)
both fingers.
L2
L
1
5mm/s.
RCP2-GRST 382
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
+0.03
0
depth 3 3
+0.03
0
depth 3 3
+0.05
0
depth 3 3
+
0
.0
5

0
d
e
p
t
h

3
3
+0.03
0
depth 3 3
Unlocking screw
1
9
19
120.05
2.5
3
1
2
.
5
0
.
0
54-M3 depth 5
M N
L
(0.5) (0.5)
40
st st 6
60
24 24 24.5
2
8
1
2
.
5
2
5
.
5
2-M4 depth 6
4
10.5
2
C
0
.5
2
C
0
.5
M
60
4-M3 depth 5
N
(
s
a
m
e
f
o
o
p
p
o
s
it
e
s
id
e
)
2
6
Cable exit from bottom
(Model: A0)
(
2
1
0
)
4
Cable joint connector*1
Cable exiting from side
(Model: A1
2
1
.
5
2
8
32 Secure at least 100
5
3
.
5
33
11
25
0
0.05
4
* The current position of the slider
is the home position.
* The opening side of the slider is the home position.
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-20PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-20PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-20PI-PL-2-0
()
Field network type
PCON-CA-20PI- -0-0
768 points
PCON-PL-20PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-20PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
Stroke 40 60 80 100
L 130 150 170 190
M 71.5 81.5 91.5 101.5
N 57.5 67.5 77.5 87.5
Weight (kg) 0.51 0.56 0.61 0.66
Dimensions and Weight by Stroke
383 RCP2-GRHM
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
0
0 10 Z0
Current limit (% ratio)
G
r
i
p
p
i
n
g

F
o
r
c
e

(
N
)
J0 40 50 0 70
Z0
40
0
80
100
1Z0
140
both fingers.
L2
L
1
5mm/s.
Appendix
P.5
Options
Cable exit direction (top) CJT A-42
Cable exit direction (right) CJR A-42
Cable exit direction (left) CJL A-42
Cable exit direction (bottom) CJB A-42
Flange Bracket FB A-43
(Unit: mm/s)
Stroke
32
(mm)
Deceleration ratio
2
100
(per side)
Maximum Gripping
Force (N)
Stroke
(mm)
RCP2-GRHM-I-35P-2-32- - -
2
125
(62.5 per side)
32
(16 per side)
Stroke
Stroke
(mm)
Standard price
32
(*) Based on a 5,000km service life.
Item Description
Drive System Timing belt + trapezoidal screw (2 lead)
Guide Linear guide
Allowable static load moment (*) Ma: 11.7 Nm, Mb: 16.7 Nm, Mc: 46.5 Nm
Weight 1.14kg
RCP2-GRHM
2: Feed screw
lead 2
35P: Pulse motor,
35 size
I: Incremental P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom Length
GRHM
Encoder type
I
Motor type
35P
RCP2
Model
Specifcation
Items
32: 32mm
(16mm per side)
See Options below.
2 32
ROBO Cylinder, 2-Finger Gripper, Medium High-force Type, Actuator Width 116mm,
24V Pulse Motor
Cable Length
Standard
(Robot Cables)
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
RCP2-GRHM 384
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
2-4
*ME: Mechanical End
Home
Bottom
Cable Exit Direction (Optional)
Top
Right
Left
Home
ST=16
ST=16
A
t
l
e
a
s
t
1
0
0
o
r
m
o
r
e
3
6
.
5
3
4
.
5
30
1
8
18
0
.
5

(
M
E
)
6
3
4
.
5
4
4
0
.
5

(
M
E
)
3
4
.
5
3
6
6
0
1
0
1
1
6
4
0
5
2
8
1
0
49.5
4
3
4 0
+0.012
depth 5 (same on opposite side)
2-M5 depth 10 (same on opposite side)
14.8
2
7
.
6
61.9 43.1
102
105
4 0
+0.012
oblong hole, depth (same on opposite side)
34
5
5
0
4-M5 depth 8
2
5
2
5
5
8
4 0
+0.012
depth 5
4
0
+
0
.0
1
2
At least 100 or more
56.5 32 16.5
0
.
5
(
M
E
)
105
3 102
6
2
5
3
2
0
+0.012
depth 5
4-M4, depth 6
o
b
l
o
n
g
h
o
l
e
, d
e
p
t
h
5

Motor & Encoder Connection*
Home
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-35PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-35PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-35PI-PL-2-0
()
Field network type
PCON-CA-35PI- -0-0
768 points
PCON-PL-35PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-35PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
Weight (kg) 1.14
* Connect the motor-encoder integrated cable here.
(See page A-59 for details on cables.)
385 RCP2-GRHB
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Appendix
P.5
Cable Length
Standard
(Robot Cables)
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Options
Cable exit direction top) CJT A-42
Cable exit direction (right) CJR A-42
Cable exit direction (left) CJL A-42
Cable exit direction (bottom) CJB A-42
Flange Bracket FB A-43
(Unit: mm/s)
Stroke
40
(mm)
Deceleration ratio
2
100
(per side)
Maximum Gripping
Force (N)
Stroke
(mm)
RCP2-GRHB-I-42P-2-40- - -
2
200
(100 per side)
40
(20 per side)
Stroke
Stroke
(mm)
Standard price
40
(*) Based on a 5,000km service life.
Item Description
Drive System Timing belt + trapezoidal screw (2 lead)
Guide Linear guide
Allowable static load moment (*) Ma: 15.7 Nm, Mb: 26.4 Nm, Mc: 59.8 Nm
Weight 1.5kg
RCP2-GRHB
2: Feed screw
lead 2
42P: Pulse motor,
42 size
I: Incremental P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom Length
GRHB
Encoder type
I
Motor type
42P
RCP2
Model
Specifcation
Items
40:40mm
(20mm per side)
See Options below.
2 40
ROBO Cylinder, 2-Finger Gripper, Large High-force Type, Actuator Width 131mm,
24V Pulse Motor
0
0 10 Z0
Current linit (% ratio)
G
r
i
p
p
i
n
g

f
o
r
c
e

(
N
)
J0 40 50 0 70
50
100
150
Z00
Z50
both fingers.
L2
L
1
5mm/s.
RCP2-GRHB 386
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
4
9
5
0
.
5

(
M
E
)
ST=20
ST=20
0
.
5

(
M
E
)
+0.012
3
4
4
0
4
14.8
A
t

l
e
a
s
t

1
0
0

o
r

m
o
r
e
4
2
2
4
4
0
18
30
4-M4, depth 6
2-4 0
+0.012
depth 5
5
0
2
7
.
6
118
115
54.6 63.4
oblong hole, depth 6 (same on opposite side)
*ME: Mechanical End
7
0
1
0
5 0
6
5
0
1
3
1
5 H7 0
+0.012
depth 6 (same on opposite side)
2-M6 depth 12 (same on opposite side)
1
0
50
4
0
0
.
5

(
M
E
)
118
115 3
2
5
Home
At least 100 or more
69.5 32 16.5
Top
Right
Bottom
0
+
0
.0
1
2
o
b
lo
n
g
h
o
le
,
d
e
p
t
6

38
5
0
4-M6 depth 10
2
5
2
5
6
5
.
5
3
0
.
5
Left
5 H7 0
+0.012
depth 6
Home
Home
4
6
3
2
Motor & Encoder Connection*
Cable Exit Direction (Optional)
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-42PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-42PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-42PI-PL-2-0
()
Field network type
PCON-CA-42PI- -0-0
768 points
PCON-PL-42PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-42PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
from the website.
2D
CAD
2D
CAD
Weight (kg) 1.5
* Connect the motor-encoder integrated cable here.
Appendix
P.15
387 RCP2-GR3LS
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
F
F
F
F
L
0
0 10 20 30 40 50 60 70
5
10
15
20
25
30
35
G
r
i
p
p
i
n
g

f
o
r
c
e

P

(
N
)
Options
(Unit: degrees/s)
Stroke
19
(deg)
Deceleration ratio
30 200
Maximum Gripping
Force (N)
Stroke
(deg)
RCP2-GR3LS-I-28P-30-19- - -
30
18
(6 per side)
19
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping point distance of
10mm and no overhang distance. For the actual transportable work piece weight, see explanation on the right,
or page A-86.
* The values in the graph below are gripping forces at 10mm
gripping point. The actual gripping force decreases
inversely proportional to the distance from the opening/
closing point.
You can calculate the actual gripping force by the following
equation.
Actual gripping force (GR3LS) = P 24 / (L + 14)
P = Gripping force on graph
L = Distance from finger mounting surface to the gripping
point.
(Operate with the L1 distance under 50mm.)
Appendix
P.5
* Please note that, when
gripping (pushing), the
speed is fixed at 5 deg/s.
RCP2-GR3LS
ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 62mm, Pulse Motor
30 : 1/30
deceleration
ratio
28P: Pulse motor,
28 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
GR3LS
Encoder type
I
Motor type
28P
RCP2
Model
Specifcation
Items
19: 19 degrees
FB: Flange bracket
SB: Shaft bracket
30 19
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
Cable Length
Stroke
(deg)
Standard price
19
Stroke
Item Description
Drive System Worm gear + worm wheel gear
Positioning repeatability 0.01 degrees
Backlash 1degree or less per side (constantly pressed out by a spring)
Lost motion 0.15 degrees or less per side
Weight 0.6kg
RCP2-GR3LS 388
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
+0.05
0
3
0
-
0
.0
5
8
+0.03
0
depth 3 2-3
+
0
.0
5

0
1
0
+0.05
0
depth 3
2-3
Flangeplug(set screwM4x5)

5
7

5
7
3-M4 (efective depth 6)
3.5
7.5
2-M3
Details of A
2 0.5
Cable joint
connector *1
S
e
c
u
r
e

a
t

l
e
a
s
t

1
0
0
(same for back side)
1
2
0
Mounting
surface
1
2
0
45
112 17.5
(129.5)
A
28 84
8
4
8
62
Mounting surface
4- 4.5
6
2

7
6
18
9
6
M8 (efective depth 4)
Home
1
4
Mounting surface
6
1
2
5

2
4
3
6
(19)
4-M5 depth 8
1.5
10
48
50.5
31.5
16
4
0
-
0
.0
5
5
9
Weight (kg) 0.6
* When homing, the actuator swings 1 degree past the home position before returning.
Therefore, please watch for any interference with the surrounding objects.
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-28PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-28PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-28PI-PL-2-0
()
Field network type
PCON-CA-28PI- -0-0
768 points
PCON-PL-28PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-28PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
389 RCP2-GR3LM
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Options
Item Description
Backlash 1 degree or less per side (constantly pressed out by a spring)
Lost motion 0.15 degrees or less per side
Weight 1.1kg
(Unit: degrees/s)
Stroke
19
(deg)
Deceleration ratio
30 200
Maximum Gripping
Force (N)
Stroke
(deg)
RCP2-GR3LM-I-42P-30-19- - -
30
51
(17 per side)
19
Appendix
P.5
F
F
F
F
L
0
0 10 20 30 40 50 60 70
10
20
30
40
50
60
70
G
r
i
p
p
i
n
g

f
o
r
c
e

P

(
N
)
Gripping Force Adjustment
* The values in the graph below are gripping forces at 10mm
gripping point. The actual gripping force decreases
inversely proportional to the distance from the opening/
closing point.
You can calculate the actual gripping force by the following
equation.
Actual gripping force (GR3LM) = P 28.5 / (L + 18.5)
P = Gripping force on graph
L = Distance from finger mounting surface to the gripping
point.
(Operate with the L distance up to 80mm.)
speed is fixed at 5 deg/s.
or page A-86.
RCP2-GR3LM
ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 80mm, Pulse Motor
30 : 1/30
deceleration
ratio
42P: Pulse motor,
42 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
GR3LM
Encoder type
I
Motor type
42P
RCP2
Model
Specifcation
Items
19: 19 degrees
FB: Flange bracket
SB: Shaft bracket
30 19
Stroke
(deg)
Standard price
19
Stroke
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
Cable Length
RCP2-GR3LM 390
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
+0.05
0 3
0
-
0
.0
5
1
0
0
-
0
.0
5
7
7
+0.03
0
depth 3 2-3
+
0
.0
5

0
1
0
+0.05
0
depth 3
2-3
4- 5.5
8
0
6
2
62

7
5
114
80

9
8
1
4
.
5
7
Mounting surface
Mounting surface
22
(136)
1.5
64
3
4
1
8
4
8
(23.5)
7
1
4
40.5
4
12
78 36
A
20
Home
5

4-M6 depth 12 S
e
c
u
r
e

a
t

l
e
a
s
t

1
0
0
Cable joint
connector *1
Mounting
surface

7
5
4 10
9
2-M4
1
2
0
1
2
0

62
Details of A
2 0.5
2
9
Weight (kg) 1.1
* When homing, the actuator swings 1 degree past the home position before returning.
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-42PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-42PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-42PI-PL-2-0
()
Field network type
PCON-CA-42PI- -0-0
768 points
PCON-PL-42PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-42PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
RCP2 ROBO Cylinder
391 RCP2-GR3SS
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Options
(Unit: mm/s)
Stroke
10
(mm)
Deceleration ratio
30 40
Maximum Gripping
Force (N)
Stroke
(mm)
RCP2-GR3SS-I-28P-30-10- - -
30
22
(7.3 per side)
10
Stroke
Stroke
(mm)
Standard price
10
Appendix
P.5
Cable Length
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
or page A-86.
RCP2-GR3SS
ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 62mm, Pulse Motor
30 : 1/30
deceleration
ratio
28P: Pulse motor,
28 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
GR3SS
Encoder type
I
Motor type
28P
RCP2
Model
Specifcation
Items
10: 10mm
(5mm per side)
FB: Flange bracket
SB: Shaft bracket
30 10
Item Description
Weight 0.6kg
Ambient operating temperature, humidity 0 to 40
o
C, 85% RH or less (Non-condensing)
F
F
F
F
L
0
0 10 20 30 40 50 60 70
5
10
15
20
25
30
35
G
r
i
p
p
i
n
g

f
o
r
c
e

P

(
N
)
* Operate with the L distance up to 50mm.
* The gripping force value in the graph below is when L is
at 0 mm. (For gripping force reference per L distance,
see page A-87.)
both fingers.
speed is fixed at 5mm/s.
RCP2 ROBO Cylinder
RCP2-GR3SS 392
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Cable joint
connector *1
S
T
5
1
2
0

7
6

5
7
1
.
5
1
2
0

5
7
45
3-M3 depth 5
5
3
.
5
6
2
Mounting surface
4
8
2 0.5
0
-
0
.0
5
6
+0.03
0
depth 3 2-3
0
-
0
.0
1
0
(

)
3
-

2
.
5
h
7
+
0
.0
5

0
1
0
+0.05
0
depth 3
2-3
0
-
0
.0
5
5
9
S
e
c
u
r
e

a
t

l
e
a
s
t

1
0
0
Mounting
surface
70
4
40
104
110
A
B
Details of A
4
2
4
3
6
4-M5 depth 8 2
10
45
Mounting
surface 1.5
1
8
4
~
9
4- 4.5
48
62
1
.
5
1
5
9 counterbore, depth 1.5
3-M3 depth 5
S
T
5
1
.
5
1
8
5
3
.
5
4
~
9
48
62
1
.
5
1
5Home
Details of B
Weight (kg) 0.6
* When homing, the actuator swings 0.5mm past the home position before returning.
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-28PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-28PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-28PI-PL-2-0
()
Field network type
PCON-CA-28PI- -0-0
768 points
PCON-PL-28PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-28PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
RCP2 ROBO Cylinder
393 RCP2-GR3SM
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Appendix
P.5
F
F
F
F
L
0
0 10 20 30 40 50 60 70
20
40
60
80
100
120
130
G
r
i
p
p
i
n
g

f
o
r
c
e

P

(
N
)
Options
(Unit: mm/s)
Stroke
14
(mm)
Deceleration ratio
30 50
Maximum Gripping
Force (N)
Stroke
(mm)
RCP2-GR3SM-I-42P-30-14- - -
30
102
(34 per side)
14
* Operate with the L distance up to 80mm.
* The gripping force value in the graph below is when L is
at 0 mm. (For gripping force reference per L distance,
see page A-87.)
both fingers.
Stroke
Stroke
(mm)
Standard price
14
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
speed is fixed at 5mm/s.
or page A-86.
RCP2-GR3SM
ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 80mm, Pulse Motor
30 : 1/30
deceleration
ratio
42P: Pulse motor,
42 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
GR3SM
Encoder type
I
Motor type
42P
RCP2
Model
Specifcation
Items
14: 14mm
(7mm per side)
FB: Flange bracket
SB: Shaft bracket
30 14
Cable Length
Item Description
Weight 1.2kg
o
RCP2 ROBO Cylinder
RCP2-GR3SM 394
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
0
-
0
.0
5
8
0
-
0
.0
5
7
7
+0.03
0
depth 3 2-3
+
0
.0
5

0
1
0
+0.05
0
depth 3
2-3
Home
Mounting surface
2
5
62
80
6
2
8
0
3-M3 depth 6

9
8
4- 5.5
4
~
1
1
2
2
1
.
5
1
.
5
8
7
S
T
7
4-M6 depth 12
Mounting
surface
Mounting
surface
1.5
53
12
78 47
S
e
c
u
r
e

a
t

l
e
a
s
t

1
0
0
118
125
2
4
4
8
A
3
4
1
2
0
1
2
0

62
Details of A
2 0.5
Cable joint
connector *1

7
5

7
5
0
-
0
.0
1
0
(

)
3
-

2
.
5
h
7
Weight (kg) 1.2
* When homing, the actuator swings 0.5mm past the home position before returning.
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-42PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-42PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-42PI-PL-2-0
()
Field network type
PCON-CA-42PI- -0-0
768 points
PCON-PL-42PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-42PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
RCS2 ROBO Cylinder
395 RCS2-GR8
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Appendix
P.5
Options
CE compliance CE A-42
Lead and Payload
Code explanation Stroke Applicable controller Cable length Options
(Note 1) The value of allowable load at a stop
(Note 2) The value of allowable load when fngers are traveling
Model number
Motor Output
(W)
Deceleration
Ratio
Gripping force at a stop
(N) (Note 1)
Rated gripping force at a travel
(N) (Note 2)
Stroke
(mm)
RCS2-GR8-I-60-5- - - -
60 1/5
22.5
(11.25 per side)
31.3
(15.65 per side)
20, 40, (60), (80), 100, (120), (200)
Stroke
Stroke
(mm)
Standard price
20
40
(60)
(80)
100
(120)
(200)
Cable Length
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
(1) Stroke values enclosed in "( )" are (60, 80, 120, 200) are semi-standard models.
(2) The maximum gripping force is the sum of both fingers.
Item Description
Drive System Rack and pinion
Base Material: Aluminum, white alumite treated
o
* Please note that, when gripping (pressing),
the speed is fixed at 10mm/s
*CE compliance is optional.
5: 1/5 60: 60W Servo
motor
I: Incremental T1: XSEL-J/K
T2: SCON
MSCON
SSEL
XSEL-P/Q
XSEL-R/S
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
GR8
Encoder type
I
Motor type
60
RCP2
Model
Specifcation
Items
20: 20mm
40: 40mm
(60): 60mm
(80): 80mm
100: 100mm
(120): 120mm
(200): 200mm * See page Pre-47 for details on the model descriptions.
See Options below.
5
RCS2-GR8
ROBO Cylinder, 2-Finger Gripper, Long Stroke Slider Type, Actuator Width 104 ~ 284mm,
200V servo Motor
RCS2 ROBO Cylinder
RCS2-GR8 396
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
(300)
Cable joint
connector*1
Details of the T-slot
for mounting actuator
T-slot for mounting the actuator
2-M4
(Note 1)
6-M4 effective
depth (per side)
Secure at least 100
27
6
1
5
2
62
5
6
225
1 100 54
8
7
5
4
5
1
4
.
5
B
B
A
15 28
13.5
9 9 5
2
7

2
2
7
7
0
1
5
1
5
6
6
(C)
D
E
1
6
28.0
13.5
6
.
0
3
.
0
10.3
6.3
2
10.4 10
from the website.
2D
CAD
2D
CAD
Appendix
P.15
Name
External
view
Maximum number of
positioning points
Input
power
Power supply
capacity
Standard
price
Reference
page
Positioner
mode
SCON-CA-60I-NP-2-
Up to 512
positioning points are
supported.
512 points
Single-phase
100VAC
Single-phase
200VAC
3-phase
200VAC
(XSEL-P/Q/R/S
ONLY)
218 VA max.
* Power supply
capacity will
vary depending
on the
controller, so
please refer to
the instruction
manual for
details.
P643
Solenoid
valve mode
Actuators can be operated
through the same control used
for solenoid valves.
7 points
Field network
type
Movement by numerical
specification is supported.
768 points
Pulse-train
input control
type
Dedicated pulse-train input
type
()
Positioner
multi-axis,
network type
MSCON-C-1-60- -0-
Up to 6 axes can be operated.
256 points P655
Program
control type,
1 to 2 axes
SSEL-CS-1-60I-NP-2-
Program operation is supported.
20,000 points P685
Program
control type,
1 to 8 axes
XSEL- -1-60I-N1-EEE-2-
Varies depending
on the number of
axis connected
P695
RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
* This is for the single-axis MSCON, SSEL, and XSEL. * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V).
* indicates the XSEL type (J / K / P / Q / R / S). * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V / 3: Three-phase 200 V).
* indicates field network specification symbol.
* The opening side of the slider is the home position.
Stroke 20 40 (60) (80) 100 (120) (200)
A 22 42 62 82 102 122 202
B 10 20 30 40 50 60 100
C 106.4 126.4 146.4 166.4 186.4 206.4 286.4
D 104 124 144 164 184 204 284
E 100 120 140 160 180 200 280
Weight (kg) 1.8 1.9 1.9 2.0 2.0 2.1 2.3
Dimensions and Weight by Stroke
*1 The strokes enclosed in "( )" are semi-standard configurations, and will require
longer delivery time.
(*1) Connect the motor and encoder cables here. See page A-59 for details on cables. (Note 1) The number of tapped holes on the finger mounting plate is for one side.
In addition, by default, each finger is secured using 2 tapped holes
RCP2 ROBO Cylinder
397 RCP2-RTBS/RTBSL
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
0.00
0 100 200 300 400 50 150 250 350 450
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0
0.5
1
2
1.5
3
2.5
3.5
4.5
4
5
0 100 200 300 400 50 150 250 350 450
0.36
2.3
0.24
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
Rotational speed (deg/sec)
Deceleration ratio 1/30
0.00
0 100 200 300 400 50 150 250 350 450
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0
0.5
1
2
1.5
3
2.5
3.5
4.5
4
5
0 100 200 300 400 50 150 250 350 450
0.36
2.3
0.24
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
Options
Reversed-rotation NM A-52
Shaft adapter SA A-54
Table adapter TA A-56
Appendix
P.5
(1) The output torque decreases as the rotational speed increases. Check the Output Torque graph on the right to
see whether the speed required for your desired motion is supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed. Check the Allowable
Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is within
the allowable range.
(4) Please note that the PMEC/PSEP controllers cannot be used when performing infinite rotation with the multiple
rotation type.
Item Description
Drive System Hypoid gear
Homing accuracy 0.05 degrees
Lost motion 0.1 degrees
Allowable thrust load 30N
Allowable load moment 3.6 Nm
Weight 0.52kg
o
RCP2-RTBS/RTBSL
ROBO Cylinder, Rotary, Small Vertical Type, Actuator Width 45mm, Pulse Motor
30 : 1/30
deceleration
ratio
45 : 1/45
deceleration
ratio
20P: Pulse motor,
20 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
Deceleration Ratio Oscillation Angle Cable length Options Type Encoder type
I
Motor type
20P
Series
RCP2
Model
Specifcation
Items
Applicable controller
NM: Non-motor end
SA: Shaft adapter
TA: Table adapter
RTBS: 330-deg
rotation
RTBSL: Multiple
rotation
330: 330-degrees
(RTBS only)
360: 360-degrees
(RTBSL only)
Leads and Payload Deceleration Ratio and Max. Speed
Model number
Deceleration
Ratio
Max. Torque
(N m)
Allowable Movement of
Inertia (kg m
2
)
Oscillation
Angle (deg)
RCP2-RTBS-I-20P-30-330- - -
1/30 0.24 0.0023
330
RCP2-RTBS-I-20P-45-330- - -
1/45 0.36 0.0035
RCP2-RTBSL-I-20P-30-360- - -
1/30 0.24 0.0023
360
RCP2-RTBSL-I-20P-45-360- - -
1/45 0.36 0.0035
Code explanation Applicable Controller Cable Length Options
(Unit: degrees/s)
Stroke
330/360
(deg)
Deceleration ratio
1/30 400
1/45 266
n Speed vs. Load Capacity
Due to the characteristics of the pulse motor, the RCP2
series' load capacity decreases at high speeds. In the
table below, check if your desired speed and load
capacity are supported.
Standard
(Robot Cables)
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Cable Length
Type
Oscillation Angle
(deg)
Standard price
RTBS 330
RTBSL 360
Stroke
RCP2 ROBO Cylinder
RCP2-RTBS/RTBSL 398
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
4-M3 depth 5.5
(20) 48 Secure at least 100
4
(
1
1
)
1
1
3
9
27
Cable joint
connector *1
4-M3 depth 7
4-M3 depth 3.5
5.5
7.5
26
22
3
6
4
5
21.8
72
1
3
11.6
6
7
1
7
.
5
6
8
.
5
7
0
45
(
6
)
6
3
3
4
1
2
6
1
48
12.5 12.5
(25) (35.5)
4-M3 depth 5.5
0
- 0.025 ( ) 36 h7
- 0.020
- 0.007
( )
20 g6
0 depth
+0.010
( ) 3 H7 4
0
+0.15
( ) 7 H7 depth 7.5
+0.02
0
depth 2.5
3
+
0
.0
5

0
d
e
p
t
h

4
4
+0.02
0
depth 2.5
3
+0.04
0
depth 2.5
3
+0.04
0
depth 2.5
3
Weight (kg) 0.52
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-20PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-20PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-20PI-PL-2-0
()
Field network type
PCON-CA-20PI- -0-0
768 points
PCON-PL-20PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-20PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
The position shown in the top view of the drawing is the home position for both the standard
type and reversed rotation type (Option "-NM" ). Looking from above, the standard type will
rotate counter clockwise during homing, and it then moves clockwise afterward. The reverse
rotation type will move clockwise during homing and then moves counter clockwise
afterward. Please be aware that the homing direction cannot be changed after shipment.
Please refer to the Appendix for the details.
Note:
* In the 2D drawing on the left, the shaded
area indicates the rotating part.
Note:
(*1) Connect the motor-encoder integrated cable here.
See page A-59 for details on cables.
399 RCP2-RTCS/RTCSL
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
0.00
0 100 200 300 400 50 150 250 350 450
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0
0.5
1
2
1.5
3
2.5
3.5
4.5
4
5
0 100 200 300 400 50 150 250 350 450
0.36
2.3
0.24
O
u
t
p
u
t

t
o
r
q
u
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(
N
m
)
A
l
l
o
w
a
b
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m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
0.00
0 100 200 300 400 50 150 250 350 450
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0
0.5
1
2
1.5
3
2.5
3.5
4.5
4
5
0 100 200 300 400 50 150 250 350 450
0.36
2.3
0.24
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
Options
Stroke
Type
Oscillation Angle
(deg)
Standard price
RTCS 330
RTCSL 360
Appendix
P.5
rotation type.
Item Description
Homing accuracy 0.05 degrees
Weight 0.48kg
o
Cable Length
Standard
(Robot Cables)
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
RCP2-RTCS/RTCSL
ROBO Cylinder, Rotary, Small Flat Type, Actuator Width 72mm, Pulse Motor
30 : 1/30
deceleration
ratio
45 : 1/45
deceleration
ratio
20P: Pulse motor,
20 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
I
Motor type
20P
Series
RCP2
Model
Specifcation
Items
NM: Non-motor end
SA: Shaft adapter
TA: Table adapter
RTCS: 330-deg
rotation
RTCSL: Multiple
rotation
330: 330-degrees
(RTCS only)
360: 360-degrees
(RTCSL only)
Model number
Deceleration
Ratio
Max. Torque
(N m)
Inertia (kg m
2
)
Oscillation
Angle (deg)
RCP2-RTCS-I-20P-30-330- - -
1/30 0.24 0.0023
330
RCP2-RTCS-I-20P-45-330- - -
1/45 0.36 0.0035
RCP2-RTCSL-I-20P-30-360- - -
1/30 0.24 0.0023
360
RCP2-RTCSL-I-20P-45-360- - -
1/45 0.36 0.0035
(Unit: degrees/s)
Stroke
330/360
(deg)
Deceleration ratio
1/30 400
1/45 266
RCP2-RTCS/RTCSL 400
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
8
4
0
- 0.025 ( ) 36 h7
- 0.020
- 0.007
( ) 20 g6
0 depth
+0.010
( ) 3 H7 4
0
+0.015
( ) 7 H7 depth 7.5
+0.02
0
depth 2.5
3
+
0
.0
5

0
d
e
p
t
h
4
4
+0.02
0
depth 2.5
3
+0.04
0
depth 2.5
3
+0.04
0
depth 2.5
3
Secure at least 100
11.6
1
7
.
5
6
8
4
5
4
3
.
5
4
2
2
2
(
7
)
7
4-M3 depth 7
4-M3 depth 3.5
4-M3 depth 5.5
34
48
2
9
Cable joint
connector *1
7.5
26
3
6
22
3
6
48
4-M3 depth 5.5
11 depth 0.9
hollow hole 6 through-hole
1
2
21.8
72
27
2
2
.
5
5.5
1
3
4
Weight (kg) 0.48
(*1) Connect the motor-encoder integrated cable here.
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-20PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-20PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-20PI-PL-2-0
()
Field network type
PCON-CA-20PI- -0-0
768 points
PCON-PL-20PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-20PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
* In the 2D drawing on the left, the shaded
Note:
Note:
RCP2 ROBO Cylinder
401 RCP2-RTB/RTBL
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
0
0 100 200 300 400 500 600 700
0.5
1
1.5
2
2.5
3
3.5
0
0 100 200 300 400 500 600 700
5
10
15
20
25
30
35
0.85
0.55
7.5
5
0.85
0.55
7.5
1.7
1.1
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
Allowable moment of inertia
Output torque
5
0
0 100 200 300 400 500 600 700
0.5
1
1.5
2
2.5
3
3.5
0
0 100 200 300 400 500 600 700
5
10
15
20
25
30
35
0.85
0.55
7.5
5
0.85
0.55
7.5
1.7
1.1
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
Output torque
5
Options
Stroke
Type
Oscillation Angle
(deg)
Standard price
RTB 330
RTBL 360
Appendix
P.5
rotation type.
Item Description
Homing accuracy 0.01 degrees (RTB) / 0.05 (RTBL)
Weight 0.86kg
o
Leads and Payload
Model number
Deceleration
Ratio
Max. Torque
(N m)
Inertia (kg m
2
)
Oscillation
Angle (deg)
RCP2-RTB-I-28P-20-330- - -
1/20 1.1 0.01
330
RCP2-RTB-I-28P-30-330- - -
1/30 1.7 0.015
RCP2-RTBL-I-28P-20-360- - -
1/20 1.1 0.01
360
RCP2-RTBL-I-28P-30-360- - -
1/30 1.7 0.015
Deceleration Ratio and Max. Speed
(Unit: degrees/s)
Stroke
330/360
(deg)
Deceleration ratio
1/20 600
1/30 400
Cable Length
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
RCP2-RTB/RTBL
ROBO Cylinder, Rotary, Medium Vertical Type, Actuator Width 50mm, Pulse Motor
20 : 1/20
deceleration
ratio
30 : 1/30
deceleration
ratio
28P: Pulse motor,
28 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
I
Motor type
28P
Series
RCP2
Model
Specifcation
Items
NM: Non-motor end
SA: Shaft adapter
TA: Table adapter
RTB: 330-deg
rotation
RTBL: Multiple
rotation
330: 330-degrees
(RTB only)
360: 360-degrees
(RTBL only)
RCP2 ROBO Cylinder
RCP2-RTB/RTBL 402
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
+0.03
0
depth 2.5
4
+
0
.0
5

0
d
e
p
t
h
3
4
+0.03
0
depth 2.5
4
+0.05
0
depth 2.5
4
+0.05
0
depth 2.5
4
4-M4 depth 8
4-M4 depth 7
34
56
(
1
0
)
(28)
5-M3 depth 6
Secure at least 100
5
2
6
5
9
30
88
26.5
24h7
3H7 depth 4
37
45h7
11H7 depth 10
Cable joint
connector *1
4
2
(34)
56
34
5
5
.
5
(
5
.
5
)
22 12
7
1
1
7
3
9
4-M4 depth 8
7
7 8
2
8
3
.
5
50
Weight (kg) 0.86
(*1) Connect the motor and encoder cables here.
* The bend radius R of the cable is the same as other models.
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-28PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-28PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-28PI-PL-2-0
()
Field network type
PCON-CA-28PI- -0-0
768 points
PCON-PL-28PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-28PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
* In the 2D drawing below, the shaded
Note:
Note:
RCP2 ROBO Cylinder
403 RCP2-RTC/RTCL
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
0
0 100 200 300 400 500 600 700
0.5
1
1.5
2
2.5
3
3.5
0
0 100 200 300 400 500 600 700
5
10
15
20
25
30
35
0.85
0.55
7.5
5
0.85
0.55
7.5
1.7
1.1
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
Output torque
5
0
0 100 200 300 400 500 600 700
0.5
1
1.5
2
2.5
3
3.5
0
0 100 200 300 400 500 600 700
5
10
15
20
25
30
35
0.85
0.55
7.5
5
0.85
0.55
7.5
1.7
1.1
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
Output torque
5
Options
Stroke
Type
Oscillation Angle
(deg)
Standard price
RTC 330
RTCL 360
Appendix
P.5
rotation type.
Item Description
Homing accuracy 0.01 degrees (RTC) / 0.05 (RTCL)
Weight 0.92kg
o
Model number
Deceleration
Ratio
Max. Torque
(N m)
Inertia (kg m
2
)
Oscillation
Angle (deg)
RCP2-RTC-I-28P-20-330- - -
1/20 1.1 0.01
330
RCP2-RTC-I-28P-30-330- - -
1/30 1.7 0.015
RCP2-RTCL-I-28P-20-360- - -
1/20 1.1 0.01
360
RCP2-RTCL-I-28P-30-360- - -
1/30 1.7 0.015
(Unit: degrees/s)
Stroke
330/360
(deg)
Deceleration ratio
1/20 600
1/30 400
Cable Length
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
RCP2-RTC/RTCL
ROBO Cylinder, Rotary, Medium Flat Type, Actuator Width 88mm, Pulse Motor
20 : 1/20
deceleration
ratio
30 : 1/30
deceleration
ratio
28P: Pulse motor,
28 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
I
Motor type
28P
Series
RCP2
Model
Specifcation
Items
NM: Non-motor end
SA: Shaft adapter
TA: Table adapter
RTC: 330-deg
rotation
RTCL: Multiple
rotation
330: 330-degrees
(RTC only)
360: 360-degrees
(RTCL only)
RCP2 ROBO Cylinder
RCP2-RTC/RTCL 404
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
+0.03
0
depth 2.5
4
+
0
.0
5

0
d
e
p
t
h
3
4
+0.03
0
depth 2.5
4
+0.05
0
depth 2.5
4
+0.05
0
depth 2.5
4
37
Secure at least 100
Cable joint
connector *1
4-M4 depth 8
44
56
3
5
7
.5
5
4-M4 depth 7
2
5
30
88
6
26.5
3H7 depth 4 5-M3 depth 6
24h7
45h7
4-M4 depth 8
5
5
8
1
5
3
.
5
4
2
4
6
11H7 depth 10
5
2
34
5
56
15.4 depth 5.5
6
1
7
3
4
Weight (kg) 0.92
* The bend radius R of the cable is the same as other models.
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-28PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-28PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-28PI-PL-2-0
()
Field network type
PCON-CA-28PI- -0-0
768 points
PCON-PL-28PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-28PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
* In the 2D drawing on the right,
the shaded area indicates the
rotating part.
Note:
Note:
405 RCP2-RTBB/RTBBL
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
0
0 100 200 300 400 500 600 700
2.0
2.5
3.0
0.5
1.0
1.5
3.5
4.0
4.5
5.0
0
0 100 200 300 400 500 600 700
5
10
15
20
25
30
35
40
4.6 4.6
1.73
1.13
11.3
1.73
11.3
7.5
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
0
0 100 200 300 400 500 600 700
2.0
2.5
3.0
0.5
1.0
1.5
3.5
4.0
4.5
5.0
0
0 100 200 300 400 500 600 700
5
10
15
20
25
30
35
40
4.6 4.6
1.73
1.13
11.3
1.73
11.3
7.5
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
Options
Appendix
P.5
rotation type.
Item Description
Homing accuracy 0.01 degrees (RTBB) / 0.03 (RTBBL)
Weight 2.3kg
o
Model number
Deceleration
Ratio
Max. Torque
(N m)
Inertia (kg m
2
)
Oscillation
Angle (deg)
RCP2-RTBB-I-35P-20-330- - -
1/20 3.0 0.02
330
RCP2-RTBB-I-35P-30-330- - -
1/30 4.6 0.03
RCP2-RTBBL-I-35P-20-360- - -
1/20 3.0 0.02
360
RCP2-RTBBL-I-35P-30-360- - -
1/30 4.6 0.03
(Unit: degrees/s)
Stroke
330/360
(deg)
Deceleration ratio
1/20 600
1/30 400
RCP2-RTBB/RTBBL
ROBO Cylinder, Rotary, Large Vertical Type, Actuator Width 76mm, Pulse Motor
20 : 1/20
deceleration
ratio
30 : 1/30
deceleration
ratio
35P: Pulse motor,
35 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
I
Motor type
35P
Series
RCP2
Model
Specifcation
Items
NM: Non-motor end
SA: Shaft adapter
TA: Table adapter
RTBB: 330-deg
rotation
RTBBL: Multiple
rotation
330: 330-degrees
(RTBB only)
360: 360-degrees
(RTBBL only)
Stroke
Type
Oscillation Angle
(deg)
Standard price
RTBB 330
RTBBL 360
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
Cable Length
RCP2-RTBB/RTBBL 406
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
+0.05
0
depth 3.5
5
+
0
.0
5

0
d
e
p
t
h

5
5
+0.05
0
depth 3.5
5
+0.05
0
depth 3.5
5
+0.05
0
depth 3.5
5
Cable joint
connector *1
3
0
54
43 38.5
124
7
6
5
4
4-M5 depth 8.6
4-M5 depth 10
7
55
1
6
1
6
6
3
6-M4 depth 7
(40.5) 78.5
6
Secure at least 100
76
78.5
1
0
3
(
9
.
5
)
9
5 1
0
5
1
0
7
1
4
34 34
(68) (44.5)
14.5
9
.
5
5
7
64-M5 depth 10
0
- 0.030 ( ) 65 h7
- 0.025
- 0.009
( ) 40 g6
0
+0.021
( ) 21 H7 depth 12.5
0
+0.012
( ) 4 H7 depth 5
Weight (kg) 2.3
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-35PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-35PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-35PI-PL-2-0
()
Field network type
PCON-CA-35PI- -0-0
768 points
PCON-PL-35PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-35PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
* In the 2D drawing on the left,
rotating part.
Note:
Note:
407 RCP2-RTCB/RTCBL
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
0
0 100 200 300 400 500 600 700
2.0
2.5
3.0
0.5
1.0
1.5
3.5
4.0
4.5
5.0
0
0 100 200 300 400 500 600 700
5
10
15
20
25
30
35
40
4.6 4.6
1.73
1.13
11.3
1.73
11.3
7.5
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
0
0 100 200 300 400 500 600 700
2.0
2.5
3.0
0.5
1.0
1.5
3.5
4.0
4.5
5.0
0
0 100 200 300 400 500 600 700
5
10
15
20
25
30
35
40
4.6 4.6
1.73
1.13
11.3
1.73
11.3
7.5
O
u
t
p
u
t

t
o
r
q
u
e

(
N
m
)
A
l
l
o
w
a
b
l
e

m
o
m
e
n
t

o
f
i
n
e
r
t
i
a

(

1
0
-
3

k
g
m
2
)
Options
Stroke
Type
Oscillation Angle
(deg)
Standard price
RTCB 330
RTCBL 360
Appendix
P.5
rotation type.
Model number
Deceleration
Ratio
Max. Torque
(N m)
Inertia (kg m
2
)
Oscillation
Angle (deg)
RCP2-RTCB-I-35P-20-330- - -
1/20 3.0 0.02
330
RCP2-RTCB-I-35P-30-330- - -
1/30 4.6 0.03
RCP2-RTCBL-I-35P-20-360- - -
1/20 3.0 0.02
360
RCP2-RTCBL-I-35P-30-360- - -
1/30 4.6 0.03
(Unit: degrees/s)
Stroke
330/360
(deg)
Deceleration ratio
1/20 600
1/30 400
Cable Length
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
RCP2-RTCB/RTCBL
ROBO Cylinder, Rotary, Large Flat Type, Actuator Width 124mm, Pulse Motor
20 : 1/20
deceleration
ratio
30 : 1/30
deceleration
ratio
35P: Pulse motor,
35 size
I: Incremental
encoder is also
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
I
Motor type
35P
Series
RCP2
Model
Specifcation
Items
NM: Non-motor end
SA: Shaft adapter
TA: Table adapter
RTCB: 330-deg
rotation
RTCBL: Multiple
rotation
330: 330-degrees
(RTCB only)
360: 360-degrees
(RTCBL only)
Item Description
Homing accuracy 0.01 degrees (RTCB) / 0.03 (RTCBL)
Weight 2.2kg
o
RCP2-RTCB/RTCBL 408
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
6
+0.05
0
depth 3.5
5
+
0
.0
5

0
d
e
p
t
h

5
5
+0.05
0
depth 3.5
5
+0.05
0
depth 3.5
5
+0.05
0
depth 3.5
5
Cable joint
connector *1
0
- 0.030 ( ) 65 h7
- 0.025
- 0.009
( ) 40 g6
0
+0.021
( ) 21 H7 depth 12.5
0
+0.012
( ) 4 H7 depth 5
78.5
1
1
5
4
54
Secure at least 100
4-M5 depth 10
14.5
7
54
38.5 43
3
8
5
4

1
4
1
1
4
124
4-M5 depth 8.6
6-M4 depth 7
3
0
78.5
68
6
4
4
0
8
6
6
6
8
4-M5 depth 10
27 depth 3.5
5
6
Weight (kg) 2.2
Name
External
view
Maximum number of
positioning points
Input
power
Power-supply
capacity
Standard
price
Reference
page
Solenoid Valve Type
3 points
AC100V
AC200V
Refer to
P541
P537
PSEP-C-35PI- -2-0
DC24V
Refer to
P555
P547
PIO specification
MSEP-C- -~- -2-0
Refer to
P572
P563
MSEP-C- -~- -0-0
256 points
Positioner type
PCON-CA-35PI- -2-0
512 points
Refer to
P618
P607
Pulse-train type
PCON-CA-35PI-PL-2-0
()
Field network type
PCON-CA-35PI- -0-0
768 points
PCON-PL-35PI- -2-0
driver support
()
Refer to
P628
P623
(Open Collector)
PCON-PO-35PI- -2-0
support

Program
Control Type
1,500 points
Refer to
P671
P665
Appendix
P.15
from the website.
2D
CAD
2D
CAD
* In the 2D drawing on the left,
rotating part.
Note:
Note:
RCS2 ROBO Cylinder
409 RCS2-RTC8L/RTC8HL
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Appendix
P.5
Options
Brake B A-42
Limit switch (standard feature) L A-51
(1) The rated and maximum acceleration is 0.3G.
(2) Positioning mode can move between 0 to 9,999.99 deg (0 to 7,670.99
deg with reduction ratio of 1/24).
Index rotation mode can move from 0 to 359.99 deg. (Once the
actuator moves beyond 359.99 deg, it resets to 0 without having to
rotate back to home.)
(3) Actuator may vibrate as it moves if the speed is lower than 100 deg/s.
Please drive the unit at or above 100mm/s.
Cable Length
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
RCS2-RTC8L
ROBO Cylinder, Hollow Rotary, Small Standard Type, Actuator Width 85mm, 200V servo Motor
RCS2-RTC8HL
ROBO Cylinder, Hollow Rotary, Small High Output Type, Actuator Width 85mm, 200V servo Motor
15 : 1/15
deceleration
ratio
24 : 1/24
deceleration
ratio
12: 12W Servo
motor
20: 20W Servo
motor
I : Incremental
A : Absolute
T2: SCON
MSCON
SSEL
XSEL-P/Q
XSEL-R/S
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
Deceleration Ratio Oscillation Angle Cable length Options Type Encoder type Motor type Series
RCS2
Model
Specifcation
Items
T2
See Options below.
360
RTC8L: Small
standard type
RTC8HL: Small high
output type
360: 360-degrees
(multiple rotation)
Model number
Motor
Output (N)
Deceleration
Ratio
Max. Torque
(N m)
Inertia (kg m
2
)
Oscillation
Angle (deg)
RCS2-RTC8L- -12-24-360-T2- -
12 1/24 0.55 0.011
360
(*)
RCS2-RTC8HL- -20-15-360-T2- -
20
1/15 0.53 0.01
RCS2-RTC8HL- -20-24-360-T2 -
1/24 0.85 0.017
(Unit: degrees/s)
Stroke
360
(deg)
Deceleration ratio
1/15 1200
1/24 750
Code explanation Encoder type Cable length Options
* Refer to "POINT Notes on Selection" above.
Encoder Type
Type
Standard price
Encoder Type
Incremental Absolute
RTC8L
RTC8HL
Item Description
Drive System Timing belt drive system + hypoid gear
Backlash 0.05 degrees or less
Allowable load moment 5 Nm
Brake retention torque 0.42 Nm
Weight 2.3kg
o
RCS2 ROBO Cylinder
RCS2-RTC8L/RTC8HL 410
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
*1 Table surface circular runout
*2 Table parallelism
*3 Table outer diameter runout
Mark of origin
(conical hole)
Cable joint
connector*
Details of section A
4-M5 Depth 10
68
5
*88.5(RTC8L)
*103.5(RTC8HL)
30 (Thru hole)
60 h7
4
7
7
14.5
6
3
6
4
4
3
4 Depth 3.5
+0.05
0
4 Depth 3.5
+0.05
0
4 Depth 4
+0.05
0
4 Depth 3.5
+0.05
0
42 H7
+0.025
0
0
-0.030
A
A
*1
*3
*2
0.03
0.05
0.04
*135 (RTC8L)
(2)
(2)
*150 (RTC8HL)
*103.5 (RTC8HL)
*88.5 (RTC8L)
*103.5 (RTC8HL)
*88.5 (RTC8L)
44.5
25 25
A
6-M4 Depth6
4-M5 Depth10
4-M5 Depth10
2-4 H7
+0.010
0
Depth5
4 Depth 3.5
+0.05
0
5
5
(
8
)
6
9
(
8
)
8
5
3
0
5
.
5
60 60
68
16.5 6
4
4
(Maximum screw-in depth 9)
4 Depth 4
+0.05
0
10.5
100 or higher must be retained
56
5
2
1
4
Appendix
P.15
from the website.
2D
CAD
2D
CAD
* The shaded area in the top
view shows the rotation area.
Caution
Name
External
view
Maximum number of
positioning points
Input
power
Power supply
capacity
Standard
price
Reference
page
Positioner
mode
SCON-CA-12 -NP-2-
SCON-CA-20 -NP-2-
Up to 512
supported.
512 points
Single-phase
100VAC
Single-phase
200VAC
3-phase
200VAC
(XSEL-P/Q/R/S
ONLY)
106 VA max.
* Power supply
capacity will
vary depending
on the
controller, so
please refer to
the instruction
manual for
details.
P643
Solenoid
valve mode
7 points
Field network
type
768 points
Pulse-train
input control
type
type
()
Positioner
multi-axis,
network type
MSCON-C-1-12 - -0-
MSCON-C-1-20 - -0-
256 points P655
Program
control type,
1 to 2 axes
SSEL-CS-1-12 -NP-2-
SSEL-CS-1-20 -NP-2-
20,000 points P685
Program
control type,
1 to 8 axes
XSEL- -1-12 -N1-EEE-2-
XSEL- -1-20 -N1-EEE-2-
Varies depending
on the number of
axes connected
P695
* This is for the single-axis MSCON, SSEL, and XSEL. * indicates the encoder type (I: Incremental / A: Absolute).
* indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the XSEL type (J / K / P / Q / R / S).
* indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200V / 3: Three-phase 200V). * indicates field network specification symbol.
* Connect the motor and encoder cables here.
The position in the detail A drawing above is the homing location for both standard type/
reversed rotation type (Option "-NM" ). Looking from the above, the standard type will rotate
counter clockwise during homing, and it moves clockwise afterward. Reverse rotation type
will move clockwise during homing and moves counter clockwise afterward.
Note:
RCS2 ROBO Cylinder
411 RCS2-RTC10L
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Options
Brake B A-42
CE-compliant specification CE A-42
Limit switch (standard) L A-51
Cable Length
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
Appendix
P.5
Encoder Type
Type
Standard price
Encoder Type
RTC10L
Model number
Motor
Output (W)
Deceleration
Ratio
Max. Torque
(N m)
Allowable Movement
of Inertia (kg m
2
)
Oscillation
Angle (deg)
RCS2-RTC10L- -60-15-360-T2- -
60
1/15 1.7 0.033
360
(*)
RCS2-RTC10L- -60-24-360-T2- -
1/24 2.8 0.054
Stroke
360
(deg)
Deceleration ratio
1/15 1200
1/24 750
(Unit: degrees/s)
15 : 1/15
deceleration
ratio
24 : 1/24
deceleration
ratio
60: 60W Servo
motor
I : Incremental
A : Absolute
T2: SCON
MSCON
SSEL
XSEL-P/Q
XSEL-R/S
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
Deceleration Ratio Oscillation Angle Cable length Options Type
RTC10L
Encoder type Motor type
60
RCS2
Model
Specifcation
Items
360: 360-degrees
(multiple
rotation)
See Options below.
RCS2-RTC10L
Robo Cylinder, Hollow Rotary, Medium Type, Actuator Width 99mm, 200V Servo Motor
360 T2
RTC10L: Medium
type
Item Description
Weight 3.5kg
o
RCS2 ROBO Cylinder
RCS2-RTC10L 412
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
22.5 22.5
Mark of origin
(conical hole)
Cable joint
connector*
4 Depth 4
+0.05
0
4 Depth 4
+0.05
0
4-M5 Depth10
5
(
7
)
8
5
(
7
)
60
116.5
Dimensions of mounting holes on the side
are bilaterally symmetric.
2-4 H7
+0.010
0
Depth5
A
8-M4 Depth 6
(2.5) (2.5)
171
52
30 30
9
9
3
1
1
0
.
5
6
0
*3
0.04
A
A
*1
*2
0.03
0.05
3
4
8
6
7
2
5
2
14.5
7
116.5
75
1
4
70 h7
0
-0.030
52 h7
+0.030
0
40 (Thru hole)
2-4 (Both front and back)
+0.05
0
2-4 Depth 4
+0.05
0
8-M5 Depth 10 (Both front and back)
(Both front and back)
5
from the website.
2D
CAD
2D
CAD
Name
External
view
Maximum number of
positioning points
Input
power
Power supply
capacity
Standard
price
Reference
page
Positioner
mode
SCON-CA-60 -NP-2-
Up to 512
supported.
512 points
Single-phase
100VAC
Single-phase
200VAC
3-phase
200VAC
(XSEL-P/Q/R/S
ONLY)
218 VA max.
* Power supply
capacity will
vary depending
on the
controller, so
please refer to
the instruction
manual for
details.
P643
Solenoid
valve mode
7 points
Field network
type
768 points
Pulse-train
input control
type
type
()
Positioner
multi-axis,
network type
MSCON-C-1-60 - -0-
256 points P655
Program
control type,
1 to 2 axes
SSEL-CS-1-60 -NP-2-
20,000 points P685
Program
control type,
1 to 8 axes
XSEL- -1-60 -N1-EEE-2-
Varies depending
on the number of
axes connected
P695
Appendix
P.15
Caution
Note:
RCS2 ROBO Cylinder
413 RCS2-RTC12L
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Options
Brake B A-42
CE-compliant specification CE A-42
Cable Length
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
Encoder Type
Type
Standard price
Encoder Type
RTC12L
Model number
Motor
Output (W)
Deceleration
Ratio
Max. Torque
(N m)
Allowable Movement
of Inertia (kg m
2
)
Oscillation
Angle (deg)
RCS2-RTC12L- -150-18-360-T2- -
150
1/18 5.2 0.1
360
(*)
RCS2-RTC12L- -150-30-360-T2- -
1/30 8.6 0.17
Stroke
360
(deg)
Deceleration ratio
1/18 800
1/30 600
(Unit: degrees/s)

RCS2-RTC12L
Robo Cylinder, Hollow Rotary, Large Type, Actuator Width 123mm, 200V Servo Motor
150: 150W Servo
motor
RTC12L
150
Series
RCS2
Model
Specifcation
Items
T2: SCON
MSCON
SSEL
XSEL-P/Q
XSEL-R/S
I : Incremental
A : Absolute
N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
See Options below. 18 : 1/18
deceleration
ratio
30 : 1/30
deceleration
ratio
360: 360-degrees
(multiple rotation)
T2 360
RTC12L: Large
type
Item Description
Weight 6.5kg
o
Appendix
P.5
RCS2 ROBO Cylinder
RCS2-RTC12L 414
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
6
Mark of origin
(conical hole)
Cable joint
connector*
166.5
110
2-5 Depth 4
+0.05
0
(Both front and back)
54 (Thru hole)
2-5 (Both front and back)
+0.05
0
25 H7 Depth 6
+0.012
0
8-M6 Depth 12 (Both front and back)
90 h7
0
-0.030
66 h7
+0.030
0
3
9
2
7
8
5
4
9
14.5
4
1
4
A
A
*1
*2
0.03
0.05
*3
0.04
(2.5) (2.5)
233
3
1
1
3
.
5
1
2
3
64
22.5 22.5
8
0
8-M5 Depth 8
40 40
A
Dimensions of mounting holes on the side
are bilaterally symmetric.
1
0
8
95
166.5
6
(
7
.
5
)
(
7
.
5
)
5 Depth 4
+0.05
0
5 Depth 4
+0.05
0
4-M6 Depth12
from the website.
2D
CAD
2D
CAD
Name
External
view
Maximum number of
positioning points
Input
power
Power supply
capacity
Standard
price
Reference
page
Positioner
mode
SCON-CA-150 -NP-2-
Up to 512
supported.
512 points
Single-phase
100VAC
Single-phase
200VAC
3-phase
200VAC
(XSEL-P/Q/R/S
ONLY)
408 VA max.
* Power supply
capacity will
vary depending
on the
controller, so
please refer to
the instruction
manual for
details.
P643
Solenoid
valve mode
7 points
Field network
type
768 points
Pulse-train
input control
type
type
()
Positioner
multi-axis,
network type
MSCON-C-1-150 - -0-
256 points P655
Program
control type,
1 to 2 axes
SSEL-CS-1-150 -NP-2-
20,000 points P685
Program
control type,
1 to 8 axes
XSEL- -1-150 -N1-EEE-2-
Varies depending
on the number of
axes connected
P695
Appendix
P.15
Caution
Note:
RCS2 ROBO Cylinder
415 RCS2-RT6
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Appendix
P.5
Options
Stroke
Oscillation Angle
(deg)
Standard price
300
Cable Length
Standard
P (1m)
S (3m)
M (5m)
Special length
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Robot Cable
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
(1) The thrust load is the mechanical strength of the output axis at rest.
When selecting, take into account the load moment and the load inertia.
Item Description
Drive System Ball speed reducer
Lost motion 0.1degrees or less
Base Material: Aluminum, white alumite treated
Allowable load moment Ma: 6.8 Nm or less
Thrust load 100N or less
o
Lead and Payload Deceleration Ratio and Max. Speed
Model number
Motor Output
(W)
Deceleration
Ratio
Rated Torque
(Nm)
Allowable Moment
of Inertia (kgm
2
)
Oscillation
Angle (deg)
RCS2-RT6-I-60-18-300- - - -L 60 1/18 2.4 2.5 x 10
-2
or less 300
Oscillation Angle
300
(deg)
Deceleration ratio
1/18 500

RCS2-RT6
Robo Cylinder, Rotary, Straight Motor Model, Actuator Width 64mm, 200V Servo Motor
60: 60W Servo
motor
RT6
60
Series
RCS2
Model
Specifcation
Items
T1: XSEL-J/K
T2: SCON
SSEL
XSEL-P/Q
XSEL-R/S
I : Incremental N: None
P: 1m
S: 3m
M: 5m
X: Custom length
R: Robot cable
See Options below. 18 : 1/18 300: 300-degrees
300 I 18 L
RCS2 ROBO Cylinder
RCS2-RT6 416
Mini
Mini
Mini
Slider
Type
Rod
Type
Table/
Arm/
Flat Type
Linear
Servo
Type
Gripper/
Rotary
Type
Clean-
room
Type
Splash-
Proof
Type
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
Linear
Servo
Motor
Standard
Standard
Standard
Controllers
Integrated
Controllers
Integrated
Secure at
least 40
(13.3)
101
4-M6 depth 12
4
0

h
7
1
2

h
7
6
4
5
0
64
50
(200)
2
7
1
5
12
234.5
30 103.5
50 41.5 5 25
Cable joint
connector *1
from the website.
2D
CAD
2D
CAD
Appendix
P.15
Name
External
view
Maximum number of
positioning points
Input
power
Power supply
capacity
Standard
price
Reference
page
Positioner
mode
SCON-CA-60I-NP-2-
Up to 512
supported.
512 points
Single-phase
100VAC
Single-phase
200VAC
3-phase
200VAC
(XSEL-P/Q/R/S
ONLY)
218 VA max.
* Power supply
capacity will
vary depending
on the
controller, so
please refer to
the instruction
manual for
details.
P643
Solenoid
valve mode
7 points
Field network
type
768 points
Pulse-train
input control
type
type
()
Positioner
multi-axis,
network type
MSCON-C-1-60- -0-
256 points P655
Program
control type,
1 to 2 axes
SSEL-CS-1-60I-NP-2-
20,000 points P685
Program
control type,
1 to 8 axes
XSEL- -1-60I-N1-EEE-2-
Varies depending
on the number of
axes connected
P695
* This is for the single-axis MSCON, SSEL, and XSEL. * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V).
* indicates the XSEL type (J / K / P / Q / R / S). * indicates the power-supply voltage type (1: 100 V / 2: Single-phase 200 V / 3: Three-phase 200 V).
* indicates field network specification symbol.
Weight (kg) 1.9
(*1) The motor cable, encoder cable, and
limit switch cable are connected here.

IAI 05 RC General CJ0203-2A P371-416 Gripper

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IAI 05 RC General CJ0203-2A P371-416 Gripper

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RCP2 ROBO Cylinder RCP2 ROBO Cylinder

371 Gripper Type / Rotary Type

Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-35PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-42PI-N-0-0 Dedicated Serial Communication 64 points

(same for back side)

Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication 64 points

(same for back side)

3-M5 (efective depth 7)

Serial Communication Type PCON-SE-42PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication 64 points

3-M5 (efective depth 7)

Serial Communication Type PCON-SE-42PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-20PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-28PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-35PI-N-0-0 Dedicated Serial Communication 64 points

Serial Communication Type PCON-SE-35PI-N-0-0 Dedicated Serial Communication 64 points

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