IAI America RCP2-CF - Manual (Page 155)

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 The actuator moves only a half of, or twice as much as, the specified movement.
Cause: [1] The combination of controller and actuator is wrong.
The lead length of the ball screw varies depending on the actuator type, so a wrong combination
will cause the movement and speed to change.
[2] Factory setting error at IAI
Action: [1] If multiple actuators of different types must be used, confirm using the identification labels, etc.,
that the correct actuator is connected to the controller.
[2] Please contact IAI.
 A servo error occurred while the actuator was moving (ROBO Gripper).
Cause: The load was not positioned properly and contacted the finger attachment in the positioning mode.
Action: Adjust the starting position of push action and the thickness of finger attachment (including buffer
material) by considering a possible offset of load position, so that the load can be clamped properly in
the push & hold mode.
Immediately after recovery from the error, the feed mechanism may still be locked. Be sure to turn
the open/close screw to loosen each finger attachment before resetting the alarm.]
Note: If the servo ON signal is disabled or the alarm is reset while the servo ON signal is still
ON, the servo will remain ON.
If the open/close screw is turned in this condition, the screw will return automatically and
the lock cannot be released. Therefore, reissuing a movement command will cause the
alarm to generate again.
[Two-finger type]
[Three-finger type]
Remove the load by removing one finger attachment, and then turn the open/close screw clockwise.
Open/close screw
Turn the screw counterclockwise
using a flathead screwdriver.
OPEN
Remove one finger attachment.
Open/close
screw
Turn clockwise.
Open direction