IAI Rcon - Precautions for Gripper Type

3.8 I/O Signals
A3-151
ME0384-4A
Specifications Section
Chapter 3 Gateway Unit
Precautions for Gripper Type
(1) Finger part operation
[Definition of position]
Home is the position where the fingers are open. Position command is the travel distance
from home position of this single finger to the closed side.
Therefore, the maximum command value is 5mm for RCP2-GRS type, or 7mm for RCP2-GRM type.
As for the stroke of 2-claw type, the total travel distance value of both fingers is shown in the
specifications.
Therefore, the travel distance of a single finger is half of the stroke.
[Definition of velocity and acceleration/deceleration]
Command value is per single finger.
Relative velocity and acceleration/deceleration of the 2-claw type are twice as much as the
command value.
[Operation mode for gripper applications]
When using as a gripper that involves gripping of workpieces, be sure to use in "push mode".
Caution
● If used in "positioning mode", a servo error may occur while the workpiece is being
gripped, or the workpiece may be dropped.