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4. Operation

4.1 Operation of the Fingers

[1] Movement Stroke

The design stroke of the two-finger type is a sum of travel distances of both fingers. The travel

distance of one finger is one-half the design stroke.

[2] Home Return Direction

The open side moving end of the finger is the home position. The home position is on the closing end

for the home reversed type (NM).

Caution: Finger of GRSS becomes wider than the motor cover width (M) upon home return, so

watch out for interference with gripper bracket, etc.

Finger

Finger guide

Gripper bracket

Motor cover

[3] Position Indication

The movement distance from the home position of one finger to

the closing side is the position value.

(In the case of Two-finger Type : indication of max. position value = 1/2 of stroke)

[4] Indication of Speed and Acceleration

Speed/acceleration commands are specified based on a value per finger. The relative

speed/acceleration of the two-finger type is twice the command value.

Содержание GR3LM

Страница 1: ...dition Small Slim Two finger Slide Type GRSS Small Slim Two finger Lever Type GRLS Small and Medium Two finger Type GRS GRM Two finger Type with High Gripping Force GRHM GRHB Two finger Long stroke Type GRST Three finger Slide Type GR3SS GR3SM Three finger Lever Type GR3LS GR3LM IAI Corporation ...

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Страница 3: ...at whoever is handling this product can reference it quickly when necessary Important This instruction manual is original This product is not to be used for any other purpose from what is noted in this instruction manual IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual The information conta...

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Страница 5: ... FB 41 1 4 4 Cable Eject Direction Changed Model CJT CJR CJL CJB 43 1 4 5 Cable Exit from Bottom and Cable Exit from Side Model A0 A1 43 1 5 Motor Encoder Cables 44 1 5 1 Small Slim Two finger Slide Type GRSS Small Slim Two finger Lever Type GRLS Two finger Long stroke Type GRST Two finger Type with High Gripping Force GRHM GRHB 44 1 5 2 Small and Medium Two finger Type GRS GRM Three finger Slide ...

Страница 6: ...uide 100 5 8 Grease Supply for Three Fingered Slide Type GR3SS GR3SM 103 5 8 1 Greasing the Guide Finger and Finger Guide 103 5 8 2 Greasing the Gears 104 5 9 Grease Supply for Three Fingered Lever Type GR3LS GR3LM 105 5 9 1 Greasing the Gears 105 6 External Dimensions 106 6 1 GRSS 106 6 2 GRLS 107 6 3 GRS 108 6 4 GRM 109 6 5 GRHM 110 6 6 GRHB 111 6 7 GRST 112 6 8 GR3SS 113 6 9 GR3SM 114 6 10 GR3L...

Страница 7: ...tant safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity ...

Страница 8: ...the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Store the ...

Страница 9: ...seness Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding The grounding operation should be performed to prevent an electric shock or electrost...

Страница 10: ... to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more persons make it c...

Страница 11: ...minal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic operation ready...

Страница 12: ...sult in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cover or untigh...

Страница 13: ...he product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice Thi...

Страница 14: ... on the guide 6 Make sure to attach the actuator properly by following this instruction manual Using the product with the actuator not being certainly retained or affixed may cause abnormal noise vibration malfunction or shorten the product life 7 In case of removing the grease applied on the fingers and finger guides after delivery make sure to implement a rust prevention treatment Applicable mod...

Страница 15: ...ravity of the work part to match the gripping point as much as possible If the two are not aligned gravitational moments will force the work part to assume an unstable posture Center of gravity of the work part Gripping point Unstable While being gripped the work part should have play clearance in the gripping direction Also perform thorough alignment and avoid using the gripper in a manner where ...

Страница 16: ...ork part against a jig etc at the end of the movement stroke when the work part is moved or reversed Do not push a work part Do not push a work part When inserting a work part into a hole provide a sufficient clearance by anticipating positional variation Also perform thorough alignment Pay attention to contact at the time of insertion Clearance is available No clearance is available An impact loa...

Страница 17: ...nternational Standards Compliances This actuator complies with the following overseas standard Refer to Overseas Standard Compliance Manual ME0287 for more detailed information RoHS Directive CE Marking c c ...

Страница 18: ...12 Names of the Parts 1 Small Slim Two finger Slide Type GRSS Finger guide Open close screw Finger Finger Frame Motor cover PG cable M cable Motor cover lid Front Rear Right Left ...

Страница 19: ...13 2 Small Slim Two finger Slide Type GRLS Lever L Open close screw Lever R Frame Motor cover M cable PG cable Front Rear Right Left ...

Страница 20: ...14 3 Small and Medium Two finger Type GRS GRM Right Left Front Rear Side cover L Side cover R Frame Finger guide Actuator cable Finger R Finger L Guide cover R Open close screw Guide cover L ...

Страница 21: ...15 4 Two finger Type with High Gripping Force GRHM GRHB Open close screw Side cover L Left Frame Side cover R Rear Front Finger L Finger R Open close screw Guide base Connector ...

Страница 22: ...16 5 Two finger Long stroke Type GRST Actuator cable Top cover Finger R Finger L Open close screw Side cover P Side cover C Frame Front Rear Right Left ...

Страница 23: ...hree finger Slide Type GR3SS GR3SM Rear cover Open close screw Main cover Left Actuator cable Frame Finger A Motor cover Guide base Right Finger C Finger B Top Bottom Rear Front Close direction Open direction ...

Страница 24: ...ree finger Lever Type GR3LS GR3LM Rear cover Open close screw Left Actuator cable Frame Finger A Right Finger C Finger B Front cover Main cover Motor cover Rear Front Close direction Open direction Top Bottom ...

Страница 25: ...Controller ME0163 6 Instruction Manual for PCON PL PO Controller ME0164 7 Instruction Manual for MSEP Controller ME0299 8 Instruction Manual for ASEP PSEP Controller ME0216 9 Instruction Manual for PC Software IA 101 X MW IA 101 TT USB ME0154 10 Instruction Manual for PC Software RCM 101MW RCM 101 USB ME0155 11 Instruction Manual for Teaching Pendant CON T TD TG ME0183 12 Instruction Manual for Te...

Страница 26: ...I Incremental Motor Type 20P 20 size 28P 28 size 35P 35 size 42P 42 size Deceleration Ratio 1 1 1 30 1 30 Model Serial number MODEL RCP2 GRS I 20P 1 10 P1 P SB SERIAL No 000090266 MADE IN JAPAN Options SB Shaft bracket FB Flange bracket NM Reversed home specification CJT Cable exit direction changed Top CJR Cable exit direction changed Right CJL Cable exit direction changed Left CJB Cable exit dir...

Страница 27: ... 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 generate...

Страница 28: ...er 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 ...

Страница 29: ...tes a sum of gripping forces of both fingers Small Slim Two finger Slide Type GRSS Small Slim Two finger Lever Type GRLS Gripping force N Current limiting value Gripping force N Current limiting value The gripping force of the GRLS 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 ...

Страница 30: ...1 Specifications Check 24 Small and Medium Two finger Type GRS GRM Gripping point GRS GRM Gripping force N Current limiting value Gripping force N Current limiting value ...

Страница 31: ...1 Specifications Check 25 Two finger Type with High Gripping Force GRHM GRHB Gripping force N Current limiting value Gripping force N Current limiting value Gripping point GRHM GRHB ...

Страница 32: ...inger Long stroke Type GRST The gripping force shown in the graphs below indicates a sum of gripping forces of both fingers Standard type High speed type Gripping force N Current limiting value Gripping force N Current limiting value ...

Страница 33: ...1 Specifications Check 27 Three finger Slide Type GR3SS GR3SM Gripping point L GR3SS GR3SM Gripping force N Current limiting value Gripping force N Current limiting value ...

Страница 34: ...ng force N Current limiting value The above values are calculated at a gripping point of 10 mm The actual gripping force decreases in inverse proportion to the distance from the open close fulcrum Calculate the actual gripping force using the formula below Effective gripping force GR3LS F 24 L 14 Effective gripping force GR3LM F 28 5 L 18 5 ...

Страница 35: ...ion 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 op...

Страница 36: ...Check 30 1 2 3 Duty in Continuous Operation Continuous operation is available with the duty 100 Duty is the rate of operation expressed in that represents the time of the actuator being operated in 1 cycle of operation ...

Страница 37: ...each finger μ Coefficient of static friction between finger attachment and work piece m Mass of work piece kg g Gravitational acceleration 9 8m s2 The condition to grip the work piece statically and that the work piece would not drop is Fμ W F The necessary grip force assuming the safety factor recommended for ordinary transportation is 2 should be F 2 safety factor When coefficient of friction is...

Страница 38: ...nertial force in addition to the gravity will be applied to the work piece In such cases consider an even higher safety factor if it is necessary When high acceleration deceleration speed or a big impact is applied Necessary grip force 30 to 50 times or more of the work piece mass Transportable work piece mass 1 30 to 1 50 or less of the grip force ...

Страница 39: ...point Gripping point mm Note 1 Distance from center of fingers to gripping point Overhang mm Note 1 Distance from finger attachment surface to center of gravity for work piece and finger attachment mm Distance from center of fingers to center of gravity for work piece and finger attachment mm MIa MIb MOa MOb MOc Ma Mb Mc Moment in Ma direction generated on fingers due to grip force N m Moment in M...

Страница 40: ...ing Point LG and Overhang HG of Two finger Gripper GRHM GRHB GRM GRST GRS GRSS 0 20 40 60 80 20 40 60 80 100 Three finger Gripper Fig 3 Upper Limit of Gripping Point LG of Three finger Gripper L GR3SS L50 mm or less GR3SM L80 mm or less Overhang H G mm Gripping point LG mm ...

Страница 41: ...hen the load is applied in one direction only The values become one half when the load is applied from in two directions The values become 1 3 when the load is applied from in three directions 1 Moment generated on fingers due to gripping force 1 Moment in Ma direction MIa Two finger type MIa LG 10 3 Three finger type MIa LG 10 3 FG Grip force of gripper N 2 Moment in Mb direction MIb Two finger t...

Страница 42: ... a Acceleration deceleration during transportation m s2 c Centrifugal force in gripper turning F mr ω2 r Radius of turning m ω Angular velocity deg s Confirm that Fz is below the allowable load vertical direction Fzmax in Table 1 Moment generated on the fingers due to an external force Figure out the moment in each direction due to external forces FX FY and FZ calculated above 1 Moment in Ma direc...

Страница 43: ...nge Figure out by dividing to several equations considering the structure and profile of the finger attachment For reference shown below is an example how to figure out by dividing to two equations 1 Moment of inertia for Z1 axis center of gravity in A turning Part A m1 Mass of A kg a b c Dimensions of A mm m1 kg a1 b1 c1 Specific gravity 10 6 IZ1 kg m2 10 6 2 Moment of inertia for Z2 axis center ...

Страница 44: ...f gravity for the work piece to the finger open close fulcrum mm R2 Distance from the center of gravity for the finger attachment to the finger open close fulcrum mm F1 External force applied on the work piece N F2 External force applied on the finger attachment N T0 Torque generated on the fingers due to an external force N m External force applied on the work piece and the finger attachment Figu...

Страница 45: ...eration during transportation m s2 c Centrifugal force in the gripper turning F mr ω2 r Radius of turning m ω Angular velocity deg s Total External Force F1 m1g m1a m1rω2 External force applied on the work piece F2 m2g m2a m2rω2 External force applied on the finger attachment Load generated on the Finger due to an External Force F0 F1 F2 Confirm that the value figured out with the formula above is...

Страница 46: ...f your actuator you must return the actuator to IAI for adjustment 1 4 2 Shaft Bracket Model SB It is a fixing bracket to attach the gripper body For GRSS GRLS Model code of single product RCP2 SB GRSS 30 23 4 9 15 15 0 05 0 022 0 10h8 14 34 17 17 φ φ 2 H7 4 φ3 4 drilled hole 3 φ 4 1 φ 0 010 0 For GRS For GRM Model code of single product RCP2 SB GRS Model code of single product RCP2 SB GRM 15 30 0...

Страница 47: ...el code of single product RCP2 SB GR3M 32 15 30 5 15 3 4 5 1 2 0 4 5 φ 6 2 φ 10h8 10 0 05 0 05 0 1 2 0 1 2 0 1 2 0 32 15 30 2 2 5 15 0 05 φ φ 3 5 5 φ 14 φ 10h8 φ 14 φ φ 55 φ 10 0 05 0 φ 73 φ 1 4 3 Flange Bracket Model FB It is a bracket to fix the gripper body For GRSS GRLS Model code of single product RCP2 FB GRSS M4 6H 9 9 6 5 41 20 5 34 18 φ10H8 0 022 0 2 φ3H7 0 010 0 23 4 depth 4 4 φ3 4 drille...

Страница 48: ...back surface depth 4 2 H7 φ3 0 012 0 back surface depth 4 0 022 0 For GRHM For GRHB Model code of single product RCP2 FB GRHM Model code of single product RCP2 FB GRHB For GR3SS For GR3SM Model code of single product RCP2 FB GRS Model code of single product RCP2 FB GRM 32 25 5 9 4 5 φ 6 2 φ 10 0 05 0 1 2 0 1 2 0 1 2 0 1 2 0 30 2 0 05 32 25 5 9 30 0 05 2 M5 2 M5 10h8 depth 25 φ 10h8 depth 25 φ 3 4 ...

Страница 49: ...el code CJT right model code CJR left model code CJL and bottom model code CJB Top CJT Bottom CJB Ringt CJR Left CJL Finger side 1 4 5 Cable Exit from Bottom and Cable Exit from Side Model A0 A1 Application GRST If a change in the cable ejection direction is made the direction of cable ejection will be changed There are two types for the direction change bottom model A0 and side model A1 Exit from...

Страница 50: ...een Yellow Brown Orange Gray White Yellow Red Black Brown Yellow Identification tape Red Identification tape Green Identification tape Shielded wire B1 A2 A1 B3 B2 A3 A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 A10 B10 A11 B11 A VMM A B VMM B NC NC BK BK LS LS A A B B NC VPS VCC GND NC FG BK BK LS LS A A B B NC VPS VCC GND NC FG 14 13 16 15 12 11 10 9 8 7 6 5 4 1 Signal Pin No Wire Color...

Страница 51: ... B6 A7 B7 A8 B8 A5 B5 A9 B9 A10 B10 A11 B11 Black φA White VMM Brown φA Green φB Yellow VMM Red φB Orange LS Gray LS White Yellow Red A Green A Black B Brown B K B Black Identification tape K B Brown Identification tape S L D N G Green Identification tape S P V Red Identification tape C C V White Identification tape D N G Yellow Identification tape NC G F Shielded NC NC Controller side Actuator si...

Страница 52: ...N4 5 8 13 15 18 Front view φ9 35 25 Front view Actuator Side Controller Side PHDR 16VS JST XMP 18V JST Blue Red1 White Red Gray Brown Green Purple Pink Yellow Orange Blue Drain CN4 CN2 Cable color Signal name Pin No Brown Green Purple Pink Blue Orange Yellow Blue Red1 White Red Gray Drain Light Gray Black1 Light Gray Red1 White Black1 White Red1 Pink Black1 Pink Red1 Yellow Black1 Orange Black2 Or...

Страница 53: ... 4 5 6 9 10 11 12 7 8 13 14 15 16 17 18 19 20 21 22 23 24 1 2 4 5 3 6 16 17 5 6 13 14 1 2 3 4 10 11 9 12 15 7 8 18 Black φA White VMM Red φB Green VMM Brown φ A Yellow φ B Orange BK Gray BK NC NC Black LS Brown LS White A Yellow A Red B Green B White Identification tape VCC Yellow Identification tape VPS Red Identification tape GND Green Identification tape Spare NC NC NC Shielded wire FG Controll...

Страница 54: ...n a horizontal orientation when placing it on the ground or transporting Follow the instruction if there is any for the packaging condition y Do not step or sit on the package y Do not put any load that may cause a deformation or breakage of the package 2 Handling the Actuator After Unpacking y Do not carry the actuator by its motor unit or its cable or attempt to move it by pulling the cable y Ho...

Страница 55: ...nging have an appropriate way to fix it to avoid shake due to the external vibration In the transportation without the tip being fixed do not apply any impact with 0 3G or more y When hanging up with ropes have appropriate cushioning to avoid any deformation of the actuator body Also keep it in stable horizontal orientation Make a fixture utilizing the attachment holes and the tapped holes on the ...

Страница 56: ...ing measures y Where noise generates due to static electricity etc y Where the actuator is subject to a strong electric or magnetic field y Where the actuator is subject to ultraviolet ray or radiation 2 Storage Preservation Environment y The storage and preservation environment should comply with the same standards as those for the installation environment In particular when the machine is to be ...

Страница 57: ...s how to install the actuator on your mechanical system 2 3 1 Installation Possible Not possible Horizontal installation Vertical installation Sideways installation Ceiling Mount installation Installation Orientation Horizontal Vertical Sideways Ceiling Mount ...

Страница 58: ...e the gripper Round and elongated holes are provided in each mounting surface for receiving positioning pins Use these holes as necessary 1 GRSS The actuator can be mounted and affixed on five surfaces 24 42 34 35 17 8 5 17 4 8 5 17 4 43 47 71 Same on opposite side 8 M3depth5 Same on opposite side 8 M3depth5 4 M3depth5 2 3 depth3 0 05 0 Same on opposite side 2 3 depth3 0 05 0 Same on opposite side...

Страница 59: ...5 34 4 4 M3depth5 3 depth5 0 05 0 φ 3 depth3 0 03 0 2 φ 3 depth3 0 03 0 Same on opposite side 17 4 45 1 7 8 M3depth5 Same on opposite side Same on opposite side 2 3 depth3 0 05 0 24 2 φ 3 depth3 0 03 0 Same on opposite side 2 3 depth3 0 05 0 4 9 Caution Some of the tapped holes used for installing the gripper are through holes Therefore never use long screws exceeding ...

Страница 60: ...lation surface Installation surface 69 30 21 4 3 0 05 0 depth 2 5 71 φ 3 0 03 0 depth2 5 68 28 4 M 4depth6 3 2 φ 3 0 03 0 depth2 5 4 M 4depth7 24 24 2 3 0 05 0 depth2 5 5 36 29 Rear Caution Some of the tapped holes used for installing the gripper are through holes Therefore never use long screws exceeding ...

Страница 61: ...lation surface Installation surface 35 φ 3 0 03 0 depth2 5 36 3 0 05 0 depth 2 5 4 24 4 M 4depth6 28 79 76 3 74 2 φ 3 depth2 5 36 4 M4 depth8 24 2 3 depth2 5 5 25 0 03 0 0 05 0 Rear Caution Some of the tapped holes used for installing the gripper are through holes Therefore never use long screws exceeding ...

Страница 62: ...40 2 M4depth 6 Same on back side 4 M4depth5 4 28 25 5 60 60 6 4 49 5 4 26 53 5 0 03 φ 3 depth 3 0 Same on back side 0 05 3 depth 3 0 Same on back side 0 05 3 depth 3 0 0 03 φ3 depth 3 0 Rear st Stroke 40 60 80 100 Caution Some of the tapped holes used for installing the gripper are through holes Therefore never use long screws exceeding ...

Страница 63: ...ace same on the opposite side 2 M5 depth 10 same on the opposite side long hole depth 5 same on the opposite side long hole depth 5 4 M5 depth 8 depth 5 depth 5 Caution Some of the tapped holes used for installing the gripper are through holes Therefore never use long screws exceeding ...

Страница 64: ...ace depth 6 same on the opposite side 2 M6 depth 12 same on the opposite side depth 6 long hole depth 6 same on the opposite side long hole depth 6 4 M6 depth 10 Caution Some of the tapped holes used for installing the gripper are through holes Therefore never use long screws exceeding ...

Страница 65: ...0 70 φ 59 0 0 05 40 4 M 5depth8 1 5 φ 57 1 2 0 104 2 φ3 0 03 0 depth 3 φ 57 110 10 45 3 M 4 Effective depth 6 φ 45 62 4 φ 4 5 Use holes in the flange 48 62 48 A Detail view of A 2 1 Rear 2 0 5 10 0 05 0 Note If the gripper is installed from the rear side remove the blank plugs from the tapped holes Caution Some of the tapped holes used for installing the gripper are through holes Therefore never u...

Страница 66: ... 2 φ 3 0 03 0 depth3 φ 75 1 2 0 1 2 0 3 M 5 Effective depth 7 φ 75 118 125 77 0 0 05 4 48 1 5 53 12 78 47 62 80 62 80 4 φ 5 5 Use holes in the flange φ 62 A 34 Rear Detail view of A 2 1 10 0 05 0 0 5 2 Note If the gripper is installed from the rear side remove the blank plugs from the tapped holes Caution Some of the tapped holes used for installing the gripper are through holes Therefore never us...

Страница 67: ...0 0 05 28 4 M 5depth8 1 5 φ 57 1 2 0 2 φ3 0 03 0 depth3 φ 57 10 3 M 4 Effective depth 6 φ 45 112 84 48 62 48 4 φ 4 5 Use holes in the flange 62 50 5 17 5 129 5 A 16 Rear Detail view of A 2 1 2 0 5 10 0 05 0 φ Note If the gripper is installed from the rear side remove the blank plugs from the tapped holes Caution Some of the tapped holes used for installing the gripper are through holes Therefore n...

Страница 68: ... the flange 80 48 4 M 6depth12 2 3 0 05 0 depth3 2 φ 3 0 03 0 depth3 114 62 80 62 φ 75 1 2 0 1 2 0 3 M 5 Effective depth 7 φ 75 4 12 78 36 φ 62 22 136 A 20 φ 2 9 77 0 0 05 Detail view of A 2 1 2 0 5 10 0 05 0 Note If the gripper is installed from the rear side remove the blank plugs from the tapped holes Caution Some of the tapped holes used for installing the gripper are through holes Therefore n...

Страница 69: ...e 2 3 3 Gripper Brackets Optional Optional brackets that can be installed on the rear face of the gripper are available The external dimensions of each optional bracket are shown below 1 GRSS GRLS If a flange bracket is used it is recommended that a relief space be provided at the shaft end structure of the mating part as shown in the figure on the right ...

Страница 70: ...2 Installation 64 Shaft bracket Flange bracket Shaft bracket Flange bracket φ φ φ φ φ φ φ φ 2 GRS 3 GRM ...

Страница 71: ...2 Installation 65 4 GRHM Shaft bracket Flange bracket 5 GRHB Flange bracket Shaft bracket ...

Страница 72: ...h8 0 0 022 15 5 30 15 0 05 φ 4 5 1 2 0 1 2 0 φ 55 φ 29 25 5 30 0 05 1 2 0 1 2 0 φ 4 5 φ10H8 0 022 0 depth 25 7 GR3SM GR3LM Shaft bracket Flange bracket φ 14 φ 10h8 0 0 022 15 5 30 15 0 05 φ 6 2 1 2 0 1 2 0 φ 73 φ 73 φ 29 25 5 30 0 05 1 2 0 φ 6 2 1 2 0 φ10H 8 0 022 0 depth 25 ...

Страница 73: ...Attachments The finger attachments are provided by the customer 1 Installation dimensions for finger attachments GRSS 5 4 2 13 9 2 M3 depth 4 9 0 0 05 MAX13 5 MIN5 5 1 5 2 2 φ 3h7 0 0 010 GRLS 2 φ 4 depth 2 5 0 03 0 4 M4 througs 9 18 36 18 42 9 0 05 ...

Страница 74: ...2 Installation 68 depth 8 depth 8 GRS GRM ...

Страница 75: ...HM 4 M4 depth 6 depth 5 Home Home Do not use the screw holes at the center of the finger 33 5 33 5 6 5 6 5 33 5 GRHB 4 M4 depth 6 depth 5 Home Home Do not use the screw holes at the center of the finger 42 5 39 5 39 5 39 5 ...

Страница 76: ...2 Installation 70 GRST 2 5 12 0 05 MIN 6 4 M3depth5 12 5 0 05 3 19 4 49 5 28 25 5 19 24 0 03 φ 3 depth3 0 0 25 0 05 ...

Страница 77: ...2 Installation 71 depth 5 depth 6 φ φ GR3SS GR3SM ...

Страница 78: ...2 Installation 72 GR3LS GR3LM ...

Страница 79: ...ng pin and the side face of the finger as illustrated below It is also recommended that a clearance of 3 mm or more be provided between the attachments so that the gripped work part can be removed by turning the opening closing screw in the event of power outage GRSS Positioning pin Positioning in open close directions Open close directions Finger attachment Affixing bolt M3 Shoulder contact surfa...

Страница 80: ...he finger as illustrated below GRLS Shoulder contact surface Positioning in open close direction Finger attachment Lever Positioning pin Positioning in vertical direction Affixing bolt M4 Open close directions Vertical directions Caution When installing or removing an attachment to from a finger tighten the mounting bolts while securely holding the attachment with a spanner wrench etc to prevent t...

Страница 81: ...ose directions Finger attachment Affixing bolt Shoulder contact surface Positioning in vertical directions Vertical directions Finger Caution When installing or removing the attachment to from the finger tighten the screw while holding the attachment with a spanner wrench etc so that the guide will not receive any load or impact The tapping holes are through holes Never use long screws exceeding t...

Страница 82: ... GRHB Positioning pin Finger attachment Affixing bolt Positioning pin Caution When installing or removing the attachment to from the finger tighten the screw while holding the attachment with a spanner wrench etc so that the guide will not receive any load or impact The tapping holes are through holes Never use long screws exceeding the effective thread length The screws may contact the internal s...

Страница 83: ...act surface Positioning in vertical directions Positioning pin Affixing bolt Positioning in open close directions Finger attachment Caution When installing or removing the attachment to from the finger tighten the screw while holding the attachment with a spanner wrench etc so that the guide will not receive any load or impact The tapping holes are through holes Never use long screws exceeding the...

Страница 84: ...r as illustrated below GR3SS GR3SM Finger Positioning pin Positioning in open close directions Open close directions Finger attachment Affixing bolt Shoulder contact surface Positioning in vertical directions Vertical directions Shoulder contact surface Caution When installing or removing the attachment to from the finger tighten the screw while holding the attachment with a spanner wrench etc so ...

Страница 85: ...ning in vertical directions Finger attachment Finger Stopper contact surface Positioning in longitudinal directions Home return direction O f f s e t During home return the fingers bounce outward by 1 degree after reaching the home position and then return to the home position Pay attention not to allow the finger attachments and tightening bolts to contact the front cover Longitudinal directions ...

Страница 86: ...onsult with IAI if you require a different kind of cable than the one supplied RCP2 Gripper Dedicated connection cable Connect RCP2 with the dedicated controller Dedicated controller PSEL PCON Except for PCON CA Dedicated connection cable GRSS GRLS GRS GRM GR3SS GR3SM GRLS GRLM Motor Encoder Integrated Cables CB PCS MPA indicates the cable length Up to 20m can be specified Example 080 8m CB PCP2 P...

Страница 87: ...3LS GR3LM Motor Encoder Integrated Robot Cables CB APSEP MPA Motor Encoder Integrated Cables CB APSEP MPA LC indicates the cable length Up to 20m can be specified Example 080 8m r 68mm or more Movable Use r 34mm or more Fixed Use r 68mm or more Movable Use r 34mm or more Fixed Use r Robot cable CB APSEP MPA CB PSEP MPA RB Motor Encoder Integrated Robot Cables CB PSEP MPA CB APSEP MAP LC Standard c...

Страница 88: ...d connectors Use a cable pipe or duct to have an appropriate protection when there is a possibility of mechanical damage on a dedicated cable In case a dedicated cable is to be used at a moving part make sure to lay out the cable without applying any force to pull the connector or extreme bend on the cable Do not attempt to use the cable with a bending radius below the allowable value Make certain...

Страница 89: ...g force Pay attention not to concentrate the twisting force to one point on a cable Do not pinch drop a heavy object onto or cut the cable When a cable is fastened to affix make sure to have an appropriate force and do not tighten too much Do not use spiral tube in any position where cables are bent frequently ...

Страница 90: ...ack If there is an indication to the cable for the space factor in a cable track refer to the wiring instruction given by the supplier when storing the cable in the cable track Avoid the cables to get twined or twisted in the cable track and also to have the cables move freely and do not tie them up Avoid tension being applied when the cables are bent Do not pile up cables It may cause faster abra...

Страница 91: ...Caution Finger of GRSS becomes wider than the motor cover width M upon home return so watch out for interference with gripper bracket etc Finger Finger guide Gripper bracket Motor cover M 3 Position Indication The movement distance from the home position of one finger to the closing side is the position value In the case of Two finger Type indication of max position value 1 2 of stroke 4 Indicatio...

Страница 92: ...5 mm Max 180 Min 0 GRM GRS Stroke 14 mm 10 mm Travel distance per side L1 7 mm 5 mm Distance between fingers L2 Max 15 mm Min 1 mm Max 10 mm Min 1 mm GRHM GRHB Stroke 32 mm 40 mm Travel distance per side L1 16 mm 20 mm Distance between fingers L2 Max 33 mm Min 1 mm Max 41 mm Min 1 mm Two finger Long stroke Type GRST Stroke 40 60 80 100 Travel distance per side L1 20 30 40 50 Distance between finge...

Страница 93: ...release the work part Small Slim Two finger Slide Type GRSS Small Slim Two finger Lever Type GRLS Turn the opening closing screw clockwise or remove the finger attachment on one side Open close screw Turn clockwise using a 2 5 mm Allen wrench A A Affixing bolt M3 Finger attachment Small and Medium Two finger Type GRS GRM Two finger Type with High Gripping Force GRHM GRHB Turn the opening closing s...

Страница 94: ...d work part must be removed while the controller power is cut off turn the opening closing screw or remove the finger attachment on one side to release the work part Forcibly pulling the work part out of the fingers may damage the machine Remove the gripped work part if the machine will not be operated for a prolonged period If the gripper remains stationary for a prolonged period with a work part...

Страница 95: ...thereafter Every 1 year Any adjustments requiring the following operations must be carried out at our factory Do not disassemble the gripper or cut any of its cables in the location where the gripper is installed Disassemble the motor Disassembly of guide Disassembly of finger feed mechanism Disassemble the bearing Cut a cable If the user has disassembled any of the above components or cut any of ...

Страница 96: ...born stains take neutral detergent or alcohol into a soft cloth etc and wipe the area gently 5 4 Grease Supply for Two Fingered Small Slim Type Small Type and Medium Type 5 4 1 Guide Finger and Finger Guide Applicable models for grease supply on fingers and finger guides GRSS GRS GRM 1 Applicable Greases IAI uses the following grease in our plant Idemitsu Kosan Daphne Eponex Grease No 2 Other comp...

Страница 97: ...ingers and finger guides Spray grease in four locations for less than 1 second each After spraying turn the opening closing screw to move the fingers back and forth several times to spread the grease evenly Remove excess grease or grease spatters in surrounding areas 3 Spread out the grease evenly on the fingers and finger guides with hand for GRSS for rust prevention treatment Caution In case the...

Страница 98: ... evenly on the fingers and finger guides with hand for rust prevention treatment Caution Never use fluorine grease If fluorine grease is mixed with lithium grease the lubricating function of grease will drop and the machine may suffer damage due to increased friction Do not use spray oil Be sure to use spray grease Keep the spray time to a maximum of 1 second and never spray more than once If too ...

Страница 99: ...se spatters in surrounding areas Caution Never use fluorine grease If fluorine grease is mixed with lithium grease the lubricating function of grease will drop and the machine may suffer damage due to increased friction Do not use spray oil Be sure to use spray grease Keep the spray time to a maximum of 1 second and never spray more than once If too much grease is applied excess grease may flow in...

Страница 100: ...se should not be sprayed for more than 1 second WAKO CHEMICAL LTD Spray Grease No A161 or equivalent 2 How to Apply Grease 1 Remove the screws affixing side cover R and side cover L countersunk head screw M2 6 6 Remove side cover R Separate side cover L from the gripper frame The cover is still connected via internal cables Do not pull the internal cables 2 Turn the opening closing screw on side c...

Страница 101: ... Keep the removed guide covers properly so that they will not be mixed up when installed 4 Use a flathead screwdriver to turn the opening closing screw on side cover L to move the fingers toward the opening side 5 From the opening spray grease over the feed screw at 2 locations through the springs keep the spray time to a maximum of 1 second After spraying turn the opening closing screw to move th...

Страница 102: ...is mixed with lithium grease the lubricating function of grease will drop and the machine may suffer damage due to increased friction Do not use spray oil Be sure to use spray grease Keep the spray time to a maximum of 1 second and never spray more than once If too much grease is applied excess grease may flow into the electronic components and cause malfunction In case the grease got into your ey...

Страница 103: ...s applied to the feed screw before the gripper is shipped from the factory Lubricant by Sumitomo Metal Mining Sumitec 308 Other manufacturers also offer equivalent products but exercise caution when using a different product because the life of the actuator may be affected depending on the selected grease 2 How to apply grease 1 Remove the screws affixing side cover R and side cover R countersunk ...

Страница 104: ...g on the bottom face of the guide base so as to coat the feed screw with grease After the feed screw has been coated with grease roughly turn the opening closing screw to move the fingers back and forth several times to spread grease evenly 6 Install and securely affix side cover R Caution Never use grease other than synthetic poly α olefin grease If synthetic poly α olefin grease is mixed with ot...

Страница 105: ...ning closing screw using a screwdriver to move the fingers in the directions opposite their homes toward the stroke center 4 Spray grease in the same manner as in 2 5 After grease has been applied turn the opening closing screw to move the fingers back and forth several times to spread the grease evenly Caution Never use fluorine grease If fluorine grease is mixed with lithium grease the lubricati...

Страница 106: ...aphne Eponex Grease No 2 During maintenance use spray type lithium grease Do not spray grease for more than 1 second WAKO CHEMICAL LTD Spray Grease No A161 or equivalent 2 How to Apply Grease 1 Remove the affixing screws from the side cover P Cross recessed head machine screw for precision equipment M2 4 2 Remove the affixing screws from the fingers L R Low hexagonal head socket bolts M3 6 ...

Страница 107: ...the left and right guide blocks Do not spray grease for more than 1 second in each location 5 After grease has been applied turn the opening closing screw to move the fingers back and forth several times to spread the grease evenly Wipe off excess grease or grease that has scattered 6 Install the top cover fingers L R and side cover P you have removed earlier Gaps ...

Страница 108: ...use spray oil Be sure to use spray grease Keep the spray time to a maximum of 1 second and never spray more than once If too much grease is applied excess grease may flow into the electronic components and cause malfunction In case the grease got into your eye immediately go to see the doctor to get an appropriate care After finishing the grease supply work wash your hands carefully with water and...

Страница 109: ...ead screwdriver to turn the opening closing screw located deep at the center clockwise to move the levers toward the ends of their respective strokes 2 Spray grease in the gap on the steel balls between the finger and finger guide 6 locations keep the spray time to a maximum of 1 second at each location After spraying turn the opening closing screw to move the fingers back and forth several times ...

Страница 110: ...g closing screw to move the fingers back and forth several times to spread the grease evenly Remove excess grease or grease spatters in surrounding areas Caution Never use fluorine grease If fluorine grease is mixed with lithium grease the lubricating function of grease will drop and the machine may suffer damage due to increased friction Do not use spray oil Be sure to use spray grease Keep the s...

Страница 111: ...After spraying turn the opening closing screw to move the levers back and forth several times to spread the grease evenly Remove excess grease or grease spatters in surrounding areas Caution Never use fluorine grease If fluorine grease is mixed with lithium grease the lubricating function of grease will drop and the machine may suffer damage due to increased friction Do not use spray oil Be sure t...

Страница 112: ...sions 6 1 GRSS φ φ φ depth 3 depth 5 depth 3 depth 3 depth 3 depth 3 depth 5 depth 3 depth 5 depth 4 Same on opposite side Same on opposite side Same on opposite side Same on opposite side Same on opposite side Same on opposite side Mass kg 0 2 ...

Страница 113: ... M3depth5 Same on opposite side 3 5 17 4 8 5 2 3 depth 3 0 05 0 Same on opposite side 4 M3depth5 3 depth3 0 05 0 34 4 9 φ 3 depth3 0 03 0 Same on opposite side 2 φ3 depth3 0 03 0 Same on opposite side 2 3 depth3 0 05 0 Same on opposite side 8 M3depth5 24 45 1 7 4 17 Same on opposite side 2 φ 3 depth3 0 03 0 Mass kg 0 2 ...

Страница 114: ...ide Same on opposite side Same on opposite side 69 MAX 11 MIN 1 1 5 4 0 03 0 30 21 4 3 0 05 0 depth 2 5 71 φ3 0 03 0 depth2 5 10 0 0 05 2 M4 depth8 68 28 9 7 24 4 M4depth6 3 2 φ3 0 03 0 depth2 5 4 M4depth7 24 24 2 3 0 05 0 depth2 5 5 36 29 21 Mass kg 0 4 ...

Страница 115: ...e 35 φ3 0 03 0 depth2 5 36 3 0 05 0 depth 2 5 4 24 4 M4depth6 28 79 76 3 12 0 0 05 2 M5depth8 1 5 5 0 03 0 25 11 5 MAX 15 MIN 1 74 7 36 24 2 3 0 05 0 depth2 5 5 25 22 Same on opposite side 2 φ3 0 03 0 depth 2 5 Same on opposite side 4 M4depth8 Mass kg 0 58 ...

Страница 116: ... 4 M5 depth 8 25 25 58 φ4 0 0 012 depth 5 4 0 0 012 long hole depth 5 φ4 0 0 012 depth 5 Same on opposite side 2 M5depth 10 Same on opposite side 4 0 0 012 At least 100 or more 56 5 32 16 5 0 5 ME 105 34 5 3 102 6 25 32 32 61 9 43 1 102 105 long hole depth 5 Same on opposite side 27 6 32 HOME HOME HOME At least 100 or more Top side Bottom side Left side Right side Mass kg 1 14 ...

Страница 117: ... 5 18 30 4 M4 2 φ4 0 0 012 depth 5 50 49 27 6 0 5 ME 118 40 115 3 4 25 At least 100 or more 69 5 32 32 16 5 φ5H7 0 0 012 depth 6 5 0 0 012 long hole depth 6 38 50 6 4 M6 depth 10 25 25 65 5 118 115 54 6 63 4 long hole depth 6 Same on opposite side 30 5 27 6 32 depth 6 At least 100 or more HOME Top side Bottom side Left side Right side HOME HOME Same on opposite side Mass kg 1 5 ...

Страница 118: ...6 Same on opposite side depth 3 Same on opposite side depth 3 depth 3 depth 3 depth 5 depth 3 Unlocking screw φ 0 05 3 0 0 05 3 0 φ 0 03 3 0 φ 0 05 3 0 0 03 3 0 φ 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 Mass kg 0 51 0 56 0 61 0 66 ...

Страница 119: ...φ φ Same on back side depth 5 depth 3 depth 3 depth 8 φ 9 counterbore depth 1 5 Same on opposite side Installation surface Same on back side Same on back side 3 M4 Effective depth 6 Blank plug Set screw M4 x 5 Installation surface Installation surface φ φ Mass kg 0 6 ...

Страница 120: ...back side Installation surface φ 3 M5 Effectivedepth 7 depth 6 depth 3 depth 12 M8 Effective depth 6 φ9 counterbore depth 1 5 Installation surface Same on back side Same on back side Blank plug Set screw M5 x 6 Installation surface depth 3 φ φ φ φ φ φ 5 φ Mass kg 1 2 ...

Страница 121: ...posite side Same on back side 3 M4 Effective depth 6 depth 3 depth 8 depth 3 Effective depth 4 Installation surface Same on back side Same on back side Blank plug Set screw M4 x 5 Installation surface Installation surface φ φ φ φ φ φ φ φ Mass kg 0 6 ...

Страница 122: ...posite side depth 3 depth 12 depth 3 Same on back side Effective depth 4 Installation surface Same on back side Same on back side 3 M5 Effective depth 7 Blank plug Set screwM5 x 6 Installation surface Installation surface φ φ φ φ φ φ φ φ Mass kg 1 1 ...

Страница 123: ... warranty 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5 Natural fading o...

Страница 124: ...ining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportunity if our product is to ...

Страница 125: ...s on finger area for RCP2 GRHM and GRHB Page 90 and 110 Change in allowable load moment for GRHM and GRHB GRHM Ma 15 2 N m 11 7 N m Mb 21 7 N m 16 7 N m Mc 60 5 N m 46 5 N m GRHB Ma 20 4 N m 15 7 N m Mb 34 3 N m 26 4 N m Mc 77 8 N m 59 8 N m Ninth edition A page for CE Marking added Tenth edition Page 1 to 7 Contents added and changed in Safety Guide Page 8 Note Make sure to attach the actuator pr...

Страница 126: ... case of removing grease on fingers and finger guides after delivery Page 91 92 103 Grease supply added for fingers and finger guides Edition 11G y Page 29 Contents of SEL system controllers added in caution February 2016 Edition 11H y Page 39 Correction made Calculation formula of the Torque generated to the finger by an external force 10 6 10 3 February 2017 May 2018 Edition 11I y Page 114 116 C...

Страница 127: ......

Страница 128: ...89524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 35...

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