IAI America PCON-CF - Manual (Page 101)

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6. Data Entry
6.3 Notes on the ROBO Gripper
(1) Finger operation
[1] Definition of position
The specified stroke of the 2-finger type indicates the sum of travel distances of both fingers. In other
words, the travel distance of one finger is one half the specified stroke.
A position you specify defines the distance traveled by one finger from the home position in the closing
direction.
Accordingly, the maximum command value is 5 mm for the GRS type and 7 mm for the GRM type.
[2] Definition of speed and acceleration
The command value applies to each finger.
The relative speed and acceleration of the 2-finger type are twice the command values.
[3] Operation mode in gripper applications
When the actuator is used to grip the work part, be sure to select the “push & hold mode.”
(Note) In the “positioning mode,” a servo error may occur while the work part is gripped.
[Diagrams of gripping force and current-limiting value]
Current-limiting value (ratio in %) Current-limiting value (ratio in %)
Gripping fo
rce (N
)
Gripping fo
rce (N
)
Current-limiting value (ratio in %) Current-limiting value (ratio in %)
Gripping fo
rce P (N)
Gripping fo
rce P (N)
Current-limiting value (ratio in %) Current-limiting value (ratio in %)
Gripping fo
rce P (N)
Gripping fo
rce P (N)