Commands
16
01.00|WSG |en
RELEASE - Release a part
This command is used to release a part by opening the fingers with
a given speed and width.
The part will not be pinched. This is ensured by successively in-
creasing the internal force limit only when moving away from it.
The part monitoring is disabled before releasing it. The gripper’s
nominal force is used for release.
Command Flag Position:
Bit 3
Parameters used:
WIDTH, SPEED
Status Code:
The STATUS CODE register is set to E_CMD_PENDING upon start of
the movement and set to the command’s result when it has fi-
nished.
Grasping State (GSTATE):
During finger movement, the grasping state is set to RELEASING.
When the end position is reached, the grasping state is set to IDLE.
In case of an error, the GSTATE is set to ERROR.
System State (SYSSTATE):
Various transitions will occur. You should use the GSTATE register
to evaluate the current state of the grasping process, unless you
have very special requirements.
4.3
