IAI America RCS2-RTC12L - Manual (Page 36)

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6. Notes on Operation
6. Notes on Operation
6.1 Rotary
6.1.1 Backlash and Positioning Accuracy Repeatability
The rotary actuator has backlash (play). If the movement is smaller than the backlash, there may be a
possibility that the drive shaft does not rotate.
In the case the equipment operates in only one way, it is able to position within the range of the
positioning accuracy repeatability unless the gears in the decelerator get free, however, it may move
within the range of the backlash while it is stopped, and which may cause variance in the position.
Also, when the operation direction is changed, the drive amount may be shortened due to the backlash. In
such a case, input the position including the drive amount and the backlash amount.
Backlash (Play) and Positioning Accuracy Repeatability
Model Backlash (Play) Positioning Accuracy Repeatability
RT6
RT6R
0.1 deg Max. r0.02 deg
RT7R 0.5 deg Max. r0.1 deg
6.1.2 Operation Range and Home Return
(1) Range of Operation
The operation range of the rotary equipment is 300 degrees clockwise in the direction of the shaft
rotation.
There is no mechanical stopper, thus the equipment may exceed the operation range if it is rotated
manually by hand while the servo is off. Please note that it may return to the home position in the
opposite direction if it is out of the operation range. Refer to (2), "Home Return.")
Please use the marking sticker included in the package as the reference of the operation range.
Note) For RT7R, the position data will be displayed as "299.99" even if putting in "300". This is due
to the encoder resolution, and the actual position will also be "299.99".