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2. Select "SMC Air Gripper Unit" on the "URCaps" menu for basic settings.
①
:
“Time to wait for the operation of the gripper to complete”:
If the MODE is "OPEN ONLY MODE" or "CLOSE ONLY MODE" (see P.21 for MODE), the delay
time between outputting the valve switching signal and the transition of the robot to the next
operation can be set.
If the MODE is "OPEN AND CHECK SIGNAL MODE" or "CLOSE AND CHECK SIGNAL MODE",
the delay time between outputting the valve switching signal and starting of the monitoring of the
auto switch input signal can be set.
Enter the appropriate value according to the opening/closing speed of the finger by adjusting the
metering valve.
Example 1.
Set value 500ms,
“OPEN ONLY MODE” or “CLOSE ONLY MODE”.
When the valve switching signal is output, the robot operation moves to next operation in 500ms. If
the finger operation time is less than 500ms, the robot will only move to the next operation when
500ms has passed, even if the finger has completed its operation at less than 500ms from the valve
switching. If the finger operation time is 500ms or more, it is necessary to be careful because the
robot moves to the next operation before the finger operation is completed.
Example 2.
Set value 500ms,
“OPEN AND CHECK SIGNAL MODE”or “CLOSE AND CHECK
SIGNAL MODE”.
In 500ms after the valve switching signal is output, the monitoring of the auto switch input signal
begins. If the finger operation time is less than 500ms, the monitoring of the auto switch signal
begins when 500ms has passed, even if the finger has completed its operation at less than 500ms
from the valve switching. If the finger operation time is more than 500ms, the auto switch signal
monitoring begins when 500ms has passed even when the finger is in operation.
①
②
③