- 41 -
The gripped part is considered released (change from HOLDING state to RELEASED state) as soon as the
base jaws have reached the RELEASE Limit. There they remain position-controlled, but with reduced force.
EN = 1, HOME = 0
CMD = 0
INDEX = [Grip Index]
RELEASED = 1 ?
no
yes
Part released
Base Jaws
moving
no
yes
FAULT = 1 ?
Error handling
Acknowledge error
9.10
Troubleshooting
When the gripping module is in the FAULT state during regular operation, an internal error has occurred
that prevents the module from functioning correctly. Possible causes for errors are described in chapter
11.4. In addition to the FAULT state, a system event that specifies the cause of error is triggered, see Table
To acknowledge an error, the module must be deactivated and reactivated.
Figure 17 shows the program sequence that is required to acknowledge an error. If the error cannot be
acknowledged, try to restart the gripping module by temporarily disconnecting it from the power supply. If
the error persists, please contact the technical support of Weiss Robotics. The gripping module may be
defective.
Possible loss of parts. Move the module into a safe position before acknowledging the error.
Figure 16: Program sequence release part
