ROBO Cylinder GR3LM, Instruction Manual

Page: 35 / 128

1. Specifications Check
29
Caution:
(1) It is a reference when pressing performed with speed 5mm/s for Slide Type, and with 5deg/s for
Lever Type.
(2) The grip force is the values under the conditions stated below.
● Two-finger Type
Slide Type: Total value of grip force of both slides at the top surface of the slides (gripping
point = 0mm, overhang = 0mm)
Lever Type: Total value of grip force of both slides at the top surface of the Levers (gripping
point = 0mm, overhang = 0mm)
The actual grip force drops in inverse proportion to the distance from the fulcrum
of open and close.
Slide Type Lever Type
● Three-finger Type
Slide Type: Total value of grip force of both slides at the top surface of the slides (gripping
point = 0mm, overhang = 0mm)
Lever Type: Total value of grip force of both slides at the top surface of the Levers (gripping
point = 10mm, overhang = 0mm)
The actual grip force drops in inverse proportion to the distance from the fulcrum
of open and close.
L
F
F
F
F
F
F
F
F L
Slide Type Lever Type
(3) There is a little variance in the actual grip force. The variance of the grip force becomes large
when the current limit value is low.
(4) Use the product within the range in the graph for the current limit value. Pressing force will not
be stable if used below 20%. There is even a case that it would not operate. The product cannot
be used above 70%. Doing so may cause degradation in the motor coil insulation by heat
radiation, which results in shortening the product life.
(5) For the CON system controllers such as PCON, when the approach speed (setting in the
position table) to the pressing start position is 5mm/s or less, pressing is performed at the
approach speed. In such a case also the pressing force will be unstable. In such cases, check
in advance that the actuator can be used with no problem before omit using.
For the SEL system controllers such as MSEL, pressing operation is performed at the speed set
in PAPR Command regardless of the approach speed to the pressing start position.