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the gripping state HOLDING. When the base jaws reach the specified NO PART Limit, the gripping state
changes to NO PART to signal that no part has been gripped.
HOLDING
Part to be gripped
NO PART Limit
RELEASE Limit
Position
NO PART
RELEASED
0
HOLDING
NO PART Limit
RELEASE Limit
Position
NO PART
RELEASED
0
Part to be gripped
Grip Outside
Grip Inside
Figure 13: Gripping area and gripping direction
If the base jaws are blocked outside the position window, e. g. at the end stop of the movement, the
gripped part is considered released or no part has been detected, depending on the direction of
movement.
Danger of collision. If the gripping area is not sufficiently large, parts that are too small or too large
may be gripped, although the gripping state is NO PART or RELEASED. If in doubt, please check the
current jaw position.
9.6.1
Gripping Direction
The gripping direction is determined by the RELEASE Limit and NO PART Limit. When the position for the
NO PART Limit is smaller than that for the RELEASE Limit, the gripping module performs an inward grip
