IAI America RCP2W-GRLS - Manual (Page 67)

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6. Notes on Use
Motor cover
Finger Gripper bracket
Finger guide
6. Notes on Use
6.1 Finger Operation
z Finger
stroke
The design stroke of the two-finger type is a sum of travel distances of both fingers. In other words,
the travel distance of one finger is one-half the design stroke.
z Home return direction
The moving end on the opening side of the finger (closer to the side cover) defines the home position.
Caution
Finger of GRSS becomes wider than the motor cover width (M) upon home return, so watch out for
interference with gripper bracket, etc.
z Position
specification
The position indicates the travel distance of each finger from its home position toward the closing
side. (Two-finger type: Maximum specifiable position = Stroke / 2)
z Speed/acceleration
commands
Speed/acceleration commands are specified based on a value per finger. The relative
speed/acceleration of the two-finger type is twice the command value.