Commands
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Commands
MOVE - Move the gripper fingers
This command can be used to position the gripper fingers.
To move the gripper fingers to a defined width before issuing a
grasp command, a prepositioning may be initiated via this com-
mand. The command is intended to speed up grasping of sensitive
parts when the gripper fingers have to travel a larger distance due
to process constraints.
MOVE can only be issued if the gripper is idle, i.e. grasping state is IDLE.
Command Flag Position:
Bit 0
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)
The grasping state changes to POSITIONING when starting to move
and back to IDLE when finished. In case of an error, the grasping
state 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.
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