IAI America PCON-CY - Manual (Page 48)

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4. Position T
able Settings
4.2 Notes on the ROBO Gripper
(1) Finger Operation
[1] Definition of position
With the two-finger type, the stroke specification indicates the total sum of travels by both fingers. In other words, the
travel by one finger is one-half this stroke.
A position is specified as a travel by one finger from the home position toward the closing direction.
Therefore, the maximum command value is 5 mm for the GRS type, and 7 mm for the GRM type.
[2] Definition of speed and acceleration
The command value applies to one finger.
With the two-finger type, the relative speed and acceleration are double the command values, respectively.
[3] Gripper operation mode
In applications where the work is to be gripped, be sure to use the “push-motion mode.”
(Note) If the “positioning mode” is used, a servo error may occur while the work is gripped.
[Diagram of gripping force and current-limiting value]
Current-limiting value (%) Current-limiting value (%)
Gripping fo
rce (N
)
Current-limiting value (%) Current-limiting value (%)
Current-limiting value (%) Current-limiting value (%)
Gripping fo
rce (N
)
Gripping fo
rce P (N)
Gripping fo
rce P (N)
Gripping fo
rce P (N)
Gripping fo
rce P (N)