ROBO Cylinder GR3LM, Instruction Manual

Page: 27 / 128

1. Specifications Check
21
1.2 Specifications
1.2.1 Common
Small Slim Two-finger Type
Small Two-finger
Type
Medium Two-finger
Type
Slide type Lever type Slide type
GRSS GRLS GRS GRM
Open/Close Stroke
8 mm
(4 mm per side)
180 deg
(90 deg per side)
10 mm
(5 mm per side)
14 mm
(7 mm per side)
Maximum Gripping Force 14 N 6.4 N 21 N 80 N
Maximum Open/Close Speed
78 mm/sec
(Per side)
600 deg/sec
(Per side)
33 mm/sec
(Per side)
36 mm/sec
(Per side)
Read 1.57 mm 12 mm 1 mm 1.1 mm
No. of Encoder Pulses 800 800 800 800
Stopping Repeatability ±0.01 mm ±0.01 deg ±0.01 mm ±0.01 mm
Backlash
0.2 mm max.
on each side (Note 1)
1 deg max.
on each side (Note 1)
0.15 mm max.
on each side (Note 1)
0.15 mm max.
on each side (Note 1)
Lost Motion
0.05 mm max.
on each side
0.1 deg max.
on each side
0.1 mm max.
on each side
0.1 mm max.
on each side
Allowable Load Moment (Note 2)
Ma: 0.5 N•m
Mb: 0.5 N•m
Mc: 1.5 N•m
Ma: 6.3 N•m
Mb: 6.3 N•m
Mc: 7.0 N•m
Ma: 6.3 N•m
Mb: 6.3 N•m
Mc: 8.3 N•m
Finger Drive Method
Worm gear
+ Spiral bevel gear
+ Spiral bevel rack
Worm gear
+ Spiral bevel gear
Timing belt + Trapezoid screw
Finger Guide Structure Linear guide (ball) --- Cross roller guide
Note 1 Constantly pushed toward the opening side by a spring.
Note 2 Moments generated in a standstill state
Two-finger Type with High Gripping Force
Slide type
GRHM
(Gear ratio 1:1)
GRHB
(Gear ratio1:1)
Open/Close Stroke
32 mm
(16 mm per finger)
40 mm
(20 mm per finger)
Maximum Gripping Force 125 N 200 N
Maximum Open/Close Speed 100 mm/s (on each side)
Read 2 mm
No. of Encoder Pulses 800
Stopping Repeatability ±0.01 mm
Backlash 0.2 mm
Lost Motion 0.15 mm max.
Allowable Load Moment
Ma: 11.7N•m
Mb: 16.7N•m
Mc: 46.5N•m
Ma: 15.7N•m
Mb: 26.4N•m
Mc: 59.8N•m
Finger Drive Method
Stepping motor + Timing belt
+ Trapezoidal lead screw
Finger Guide Structure Linear limited-rotation rolling ball bearing