ABB OmniCore, Operating Manual

Page: 96 / 266

5.10.2 Gripper configuration
Configuring the power of the SmartGripper
The following requirements must be met before configuring the power:
• The gripper has been installed onto the robot arm correctly.
• The RobotWare is RobotWare 7.0 or later
• The SmartGripper Support option must be chosen while creating the system.
• The system is in manual operating mode.
Use the following procedure to configure the power of the SmartGripper :
1 On the start screen, tap Settings .
The Settings application home page is displayed.
2 Tap the SmartGripper icon.
The SmartGripper settings Configuration page is displayed.
3 Select the gripper type that has been mounted on the robot from the Gripper
Type list.
4 Tap the Enable Power of Gripper button.
The gripper has been powered on and the communication is established.
Calibrating the SmartGripper
The following requirements must be met before calibrating the gripper:
• The gripper has been installed onto the robot arm correctly.
• The RobotWare is RobotWare 7.0 or later
• The SmartGripper Support option must be chosen while creating the system.
• The system is in manual operating mode.
• The gripper has been powered on and the communication is established.
Use the following procedure to calibrate the SmartGripper :
1 On the start screen, tap Settings .
The Settings application home page is displayed.
2 Tap SmartGripper .
The SmartGripper settings Configuration page is displayed.
3 On the left sidebar, tap Servo Module .
The Servo Module page is displayed.
4 In the Command section, tap and hold the Grip - button until the two fingers
of the gripper are in direct contact with each other, which is the zero position
used for calibration.
5 Tap the Calibrate button.
When the button color turns blue from gray, the gripper is calibrated and the
status is updated.
96 Operating manual - OmniCore
3HAC065036-001 Revision: J
© Copyright 2019-2021 ABB. All rights reserved.
5 Jogging
5.10.2 Gripper configuration