Operation
02.00 | FMS | Assembly and Operating Manual | en | 389074
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6.3 Operating the force measuring system
The output voltage must be correctly read by the control. The
conversion factor must be programmed into the application.
The gripper can be operated as usual.
Gripping force
control:
Always set the system to zero with a zero adjustment before
gripping. The gripper is closed and the proportional valve is
adjusted in accordance with the measured value until the desired
value for the gripping force has been set.
Teaching of robots:
Method 1:
If the gripper is open, movement will continue until the
measuring finger touches the workpiece. Following this, the exact
center position is calculated by the robot. It is easier to equip both
gripper fingers with force measuring jaws and to approach the
workpiece from both sides.
Method 2:
The gripper is equipped with two force measuring jaws.
A zero adjustment is performed with both FMS-A1/A2 units. The
clamped workpiece is gripped. Now the gripper is moved by the
robot (using the smallest possible steps) until the values of both
force measuring jaws are identical. This position is the best
gripping position.
Static gripping force
control
In the system, the zero adjustment and the gripping are carried
out and the value is compared to a set value or with previous
measured values.
If the gripping force deviates substantially from the set value in
spite of the same pressure, this indicates the aging of the gripper.
If no gripping force is present, this indicates the loss of a
workpiece.
If a measuring system has been installed on both base jaws and
the measured values of the two systems differ, the gripping was
carried out off-center (as a result, the gripper or the robot is
frequently overloaded).
Dynamic gripping
force control
The change in gripping force is monitored, thereby enabling the
detection of overload or impending loss of parts before any
damage occurs.