ROBO Cylinder GR3LM, Инструкция по эксплуатации

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1. Specifications Check
22
Long-stroke Type
Slide type
GRST
High-velocity Type
(Gear ratio: 1)
GRST
Standard type
(Gear ratio: 2)
Open/Close Stroke
40 mm
(20 mm
per finger)
60 mm
(30 mm
per finger)
80 mm
(40 mm
per finger)
100 mm
(50 mm
per finger)
Maximum Gripping Force 20 N 40 N
Maximum Open/Close Speed 75 mm/s 34 mm/s
Read 2.27 mm 1.05 mm
No. of Encoder Pulses 800
Stopping Repeatability ±0.01 mm
Backlash 0.2 mm max. on each side
Lost Motion
Ma: 2.93 N•m
Mb: 2.93 N•m
Mc: 5.0 N•m
Allowable Load Moment Stepping motor + Timing belt + Worm/rack gears
Finger Drive Method Linear guide (ball)
Three-finger Type
Slide type Lever type
GR3SS GR3SM GR3LS GR3LM
Open/Close Stroke
5 mm
(per finger)
7 mm
(per finger)
19 deg
(-14 to +5)
19 deg
(-14 to +5)
Maximum Gripping Force 22 N 102 N 18 N 51 N
Maximum Open/Close Speed
400 mm/s
(Per side)
50 mm/s
(Per side)
200 deg/s
(Per side)
200 deg/s
(Per side)
Read 2.5 mm 3 mm 12 mm 12 mm
No. of Encoder Pulses 800 800 800 800
Stopping Repeatability ±0.01 mm ±0.01 mm ±0.01 deg ±0.01 deg
Backlash
0.3 mm max.
on each side (Note 1)
0.3 mm max.
on each side (Note 1)
1.0 deg max.
on each side (Note 1)
1.0 deg max.
on each side (Note 1)
Lost Motion
0.1 mm max.
on each side
0.1 mm max.
on each side
0.15 deg max.
on each side
0.15 deg max.
on each side
Allowable Load Moment (Note 2)
Ma: 3.8 N•m
Mb: 3.8 N•m
Mc: 3.0 N•m
Ma: 6.3 N•m
Mb: 6.3 N•m
Mc: 5.7 N•m
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Finger Drive Method Worm gear + Worm wheel gear
Finger Guide Structure Cross roller guide
Note 1 Constantly pushed toward the opening side by a spring.
Note 2 Moments generated in a standstill state