- 39 -
“
Gripping Outside
”
). When the position for the NO PART Limit is larger than that for the RE-
LEASE Limit, the gripping module performs an outward grip (Figure 13,
“
Gripping Inside
”
).
9.7
Initializing the Module and Performing a Reference Run
After it has been connected to the power supply, the gripping module is in the NOT INITIALIZED state. The
fingers are force-free, and the gripping module is waiting for the command for the initial reference run. The
reference run is performed according to Figure 14.
EN = 1, HOME = 1
CMD = 0
INDEX = [Grip Index]
IDLE = 1 ?
yes
Module inactive
Base Jaws
moving
no
no
yes
FAULT = 1 ?
Error handling
Acknowledge error
Figure 14: Initializing the gripping module
The reference run can be interrupted at any time by resetting the EN bit. The gripping module then remains
in the NOT INITIALIZED state. When the reference run has been completed successfully, the gripping mod-
ule changes to the INACTIVE state. After resetting the HOME bit, the command that has been selected with
the CMD bit is executed.
When an error occurs during the reference run, the FAULT state is set. The state can be acknowledged by
resetting the module with EN = 0 and HOME = 0. The gripping module then changes back to the NOT INI-
TIALIZED state (all status flags are reset). Once this state has been reached, the reference run can be initi-
ated again.
The reference run can also be performed during regular operation by setting the HOME bit. In this
case, the gripping state will be set to NOT INITIALIZED during the reference run.
