IAI America RCS2-GR8 - Manual (Page 37)

4. Caution for Operation (Finger Operations)
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4� Caution for Operation (Finger Operations)
[1] 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 fingers is one-half the design stroke.
[2] Home-Return Direction
The side of that the fingers are open (closer to the side cover) is defined as the home position.
[3] Position Specification caution
The travel distance of each finger from its home position toward the closing side is defined as the
position value.
(Max. position value indication = 1/2 of stroke)
[4] Speed/acceleration Commands
Speed/acceleration commands are specified based on a value per finger. The relative speed and
acceleration of the two-finger type is twice the command value.
[5] Indication of Pressing Operation Direction
For the pressing to inner direction, set the value adding a positive value to the position value. For
the pressing to outer direction, set the value adding a negative value to the position value.
Home-Return Direction
Home position (Position = 0)
Stroke + 2mm
Stroke + 3.5mm
Operation complete position for stroke value (Position = Stroke value)
Home Position (0mm)
to
2mm to 3.5mm