Operation
05.00 | WSG 25 | Assembly and Operating Manual | en | 389684
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7.7 Gripping, detecting parts to be gripped and monitoring the
gripping
The product is equipped with an integrated detector for parts to
be gripped and a grip monitor, which allows reliable handling even
for difficult parts without the use of external sensors. To configure
these functions, the following parameters are available on the web
interface
Settings -> Motion Configuration
:
Parameter
Description
Part Width Tolerance
("Part Width Tolerance")
The tolerance of the specified nominal gripper width which is
sent to the product with the grasp command. This is
measured as the relative gap between two fingers moving
towards one another.
Clamping travel
("Clamping Travel")
If a part to be gripped has been detected, the product will
attempt to apply the required gripping force by moving the
fingers within this range. This is measured as the relative gap
between two fingers moving towards one another.
gripper module
workpiece
positive direction
nominal gripping width
clamping distance / 2
gripper width tolerance / 2
Parameters defining a grip
The figure clarifies the function of these two parameters. A grip is
only valid (which means it doesn't create an error) if the detected
width of the part lies within the hatched area consisting of the part
width tolerance and the clamping travel. If no part is detected, then
the gripper state will change to "NO PART FOUND". If a contact is
detected outside of the defined range, this will be detected as an axis
block and the gripper's state will change to "ERROR".
