This document describes and provides specifications for two types of high-force grippers: the RCP2-GRHM medium high-force gripper and the RCP2-GRHB large high-force gripper. The RCP2-GRHB has a maximum gripping force of 200N, longer stroke of 40mm, and larger dimensions than the RCP2-GRHM, making it suitable for handling heavier workpieces. Both grippers can be customized with options like different cable exit directions and mounting brackets.

1. Medium High-force Gripper RCP2-GRHM
Large High-force Gripper RCP2-GRHB
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2. A high-force gripper series offering much greater
gripping force and moment rigidity is now available!
The full lineup includes
models of various sizes
from small to large.
Higher rigidity
Moment rigidity is achieved using internal ball guides.
Large work parts can be supported.
CJT CJR CJL CJB
Exit to top side Exit to right side Exit to left side Exit to bottom side
NEW NEW
Features
1
3
Gripper Lineup
Adjustable
Grip force
Name Smallest
slide type
Smallest
lever type
Small
slide type
2
4
Small
long-stroke type
Medium
slide type
Medium high-force
slide type
Large high-force
slide type
Model number GRSS GRLS GRS GRST GRM GRHM GRHB
External View
Opening/closing stroke (total of both sides) 8mm 180° 10mm 100mm 14mm 32mm 40mm
Maximum gripping force (N) 14 6.4 21 20/40 80 125 200
Maximum opening/closing speed (mm/s) 78 600 33.3 75/34 36.7 100 100
Allowable static load moment
(N•m)
Ma 0.5 — 6.3 2.93 6.3 15.2 20.4
Mb 0.5 — 6.3 2.93 6.3 21.7 34.3
Mc 1.5 — 7 5 8.3 60.5 77.8
External dimensions (mm)
W 42 42 69 190 74 116 131
H 24 36 30 33 36 44 50
D 71 73 71 53.5 79 105 118
Mass (kg) 0.2 0.2 0.36 0.66 0.5 1.14 1.5
Moment direction
Ma Mc
External dimensions
Greater gripping force
The maximum gripping force is 200 N (~45lb), meaning
that even heavy work parts can be gripped without fail. It
is also possible to adjust the gripping force for each work
part, so difficult-to-handle work parts such as those that
deform easily are also supported.
Longer stroke
Long strokes of up to 40 mm (20 mm per side) are supported,
so work parts of different sizes can also be handled.
Cable exit direction (optional)
The cables can exit to one of four directions including top,
bottom, left and right.
20 mm 20 mm
40 mm
Mb
W
D
H
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3. Model Specification Items
RCP2 – – I – – 2 – – – –
Series Type Encoder Motor Gear Opening/ Applicable Cable length Options
Actuators
type type ratio closing stroke controller
Options
Cables
External Dimensions – Mounting Bracket
44 47 44 50 47 50
43 8 43 49 8 49
-0.027
-0.027
ø16h8 +0.027
0
Shaft bracket Flange bracket Shaft bracket Flange bracket
Selection Guideline
Applicable Controllers
Caution
Note
Name Option code Standard price
Optional cable exit direction (top) CJT —
Optional cable exit direction (right) CJR —
Optional cable exit direction (left) CJL —
Optional cable exit direction (bottom) CJB —
Flange bracket FB —
Shaft bracket SB —
Name Model number Standard price
Solenoid type (100-V specification) PMEC-C--NP-2-1 —
Solenoid type (24-V specification) PSEP-C--NP-2-0 —
Splash-proof solenoid type (24-V specification) PSEP-CW--NP-2-0 —
Positioner type PCON-C--NP-2-0 —
Field network type RPCON- —
Program type PSEL-C-1--NP-2-0 —
Model number Standard price
RCP2-GRHM-I-35P-2-32- —
RCP2-GRHB-I-42P-2-40- —
Type Cable Symbol Standard price
Standard type
(robot cable)
P (1m) —
S (3m) —
M (5m) —
Special length
X06 (6m) ~ X10 (10m) —
X11 (11m) ~ X15 (15m) —
X16 (16) ~ X20 (20m) —
140
120
100
80
60
40
20
0
0 10 20 30 40 50 60 70
250
200
150
100
50
0
0 10 20 30 40 50 60 70
● RCP2-GRHM
● RCP2-GRHM
● RCP2-GRHB
● RCP2-GRHB
GRHM: Medium high-force
type
GRHB: Large high-force
type
I: Incremental
specification
2: Feed screw,
lead 2
32: 32 mm
(16 mm per side)
40: 40 mm
(20 mm per side)
CJT: Optional cable exit direction (top)
CJR: Optional cable exit direction (right)
CJL: Optional cable exit direction (left)
CJB: Optional cable exit direction (bottom)
FB: Flange bracket
SB: Shaft bracket
N: None
P: 1 m
S: 3 m
M: 5 m
X: Specified
length
P1:PCON
RPCON
PSEL
P3:PMEC
PSEP
35P: Pulse motor,
size 35
42P: Pulse motor,
size 42
The maximum work part mass that can be transported varies depending on the coefficient of
friction determined by the materials of the robot’s finger and work part as well as on the shape
of the work part.
As a guide, the maximum work part mass should not be more than one-tenth to one-twentieth
of the normal gripping force.
Also, when a large acceleration/deceleration or impact is applied while the work part is
transported, an allowance (one-thirtieth to one-fiftieth) must also be considered.
The distance from the finger installation surface to the gripping point (L) shall conform to the
applicable dimension shown to the right.
RCP2-GRHM  90 mm max.
RCP2-GRHB  90 mm max.
In push-motion operation, the gripping force (push force) can be adjusted within a range of 20 to 70% in current-limiting values of the controller.
Current-limiting value (ratio, %) Current-limiting value (ratio, %)
• Accuracy of the relationship between the push force (gripping force) and current-limiting value is not assured. The above graphs should only be used as a reference.
• Take note that if the push force is too small, the push force may vary or malfunction may result due to the slide resistance, etc.
The current-limiting value should be at least 20%.
• The finger should be as small and light as possible.
If the finger is long, large or heavy, performance may drop or the guide may be negatively affected.
Gripping Force (N)
Gripping Force (N)
F F
L
35
20
ø20
ø20
15±0.05
6
116
ø16h8 0
ø16h8 0
ø74
ø74
116
131
ø40
ø16h8 +0.027
0
ø76
35
15±0.05 20
6
131
ø40
ø76
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4. Specification Table
Type / Model number Medium size high-force type GRHM Large size high-force type GRHB
Opening/closing stroke 32 mm (16 mm per side) 40 mm (20 mm per side)
Maximum grip force (N) 125 200
Maximum opening/closing speed 100 mm/s (per side) 100mm/s (per side)
Positioning repeatability ±0.01mm ±0.01mm
Allowable static load moment (N•m) Ma:15.2 Mb:21.7 Mc:60.5 Ma:20.4 Mb:34.3 Mc:77.8
Position detection method Magnetic Encoder (incremental)
Use environment Temperature 0 to 40°C, humidity 20 to 85% RH or less (non-condensing)
External dimensions (mm) 44 (D) × 116 (W) × 105 (L) 50 (D) x 131 (W) x 118 (H)
Mass (kg) 1.14 1.5
External Dimensions
61.9 43.1
27.6
ME)
0.5(3 102
Left
56.5 32 16.5 32
RCP2-GRHM
4-M4, depth 6
2-ø4
+0.012 depth 5
*ME: Mechanical End
Home
+0.012
Bottom
Cable Exit Direction
Top
Right
Home
ST=16
ST=16
At least 100 or more
36.5
34.5
30
18
18
34.5 6 44
0.5 (ME)
0.5 (ME)
34.5
3
6
28
60
10
116
40
10
5
49.5
43
ø4 0
+0.012 depth 5 (same on opposite side)
2-M5 depth 10 (same on opposite side)
14.8
102
105
4 0
+0.012 oblong hole, depth (same on opposite side)
34
5
50
4-M5 depth 8
25 25
58
ø4 0
+0.012depth 5
4 0
At least 100 or more
105
6
25
0
oblong hole, depth 5
Motor & Encoder Connection
Home
49
27.6
3 115
69.5 32 16.5
32
0.5 (ME)
+0.012 0
oblong hole, dept 6
5
ST=20
ST=20
0.5 (ME)
+0.012
3
4 40 4
14.8
4-M4, depth 6 30
2-ø4 0
24
At least 100 or more
42
40
18
+0.012 depth 5
50
RCP2-GRHB
115
118
oblong hole, depth 6 (same on opposite side)
63.4 54.6
*ME: Mechanical End
70
10
5 0
6
50
131
ø5 H7 0
+0.012 depth 6 (same on opposite side)
2-M6 depth 12 (same on opposite side)
10
50
40
0.5 (ME)
118
25
Home
At least 100 or more
Top
Right
Bottom
38
50
4-M6 depth 10
25 25
65.5
30.5
Left
ø5 H7 0
+0.012 depth 6
Home
Home
4
6
Motor & Encoder Connection
Cable Exit Direction
Catalog Number CJ0162-1A-UST-1-1010
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com