IAI America RCS-C - Manual (Page 71)

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4.4 Items to Note on Gripper (RCS-G20)
(1) Finger
Operation
[1] Definition of position
The stroke in the specification table indicates a sum of travels of both fingers.
In other words, the travel of each finger is a half of the stroke.
The specified position therefore represents the distance traveled by each finger from its home position
toward the closing side.
[2] Definition of speed and acceleration
Speed and acceleration command values indicate a sum of both fingers.
In other words, the speed or acceleration applicable to each finger is a half of the command value.
[3] Gripper operation mode
If the actuator is used as a gripper to grip the work part, it is recommended to operate the actuator in the
“push mode.”
If the actuator is operated in the “positioning mode,” an overload or deviation overflow error may occur
when the work part is gripped.
[Diagram of Gripping Force Per Finger vs. Current Limit Value]
Current limit value (%)
Grippi
ng force (N)