OnRobot 3FG15, User Manual

Page: 53 / 177

Additional Software Options
53
In Move mode:
The gripper can be controlled by adjusting the Target raw diameter slider. The actual values
of the fingers are shown by the Current raw diameter . The raw diameter is without the
fingertip offset.
In
Grip mode:
First set how to grip the part:
•
Externally or
•
Internally
To grip on a part set the Target diameter and Target force and click on the Grip button.
There are two ways how the target diameter can be given:
•
Enter manually - make sure to add 3mm to the part diameter if it is gripped internally and
subtract 3mm if it is gripped externally
•
Use the Calculate target button:
Move the fingers with the slider to touch the part and activate the Grip detected (open
fully for an internal grip or close fully for an external grip).
Based on whether it will be external or internal the Current calculated target (diameter)
for the grip is shown. The fingertip offset is either added or subtracted to compensate
for the set fingertip.
Grip type Current calculated target value
External grip Current raw diameter - Fingertip offset - 3 mm
Internal grip Current raw di Fingertip 3 mm
Click on the Calculate target button to load the calculated value to the Target diameter .
•
If the grip was successful, the Force grip detected signal should be activated and the
engaged brake should make a clicking sound.
•
During the gripping the motion of the finger can be terminated by clicking on the Stop
button.
•
To release the part from a gripped status, move the gripper:
•
Outward in case of an external grip
•
Inward in case of an internal grip.