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Factory Setting
See Table 11
Example:
The RELEASE Limit for external gripping of a part is at 10 mm: Set the value 1000.
Gripping Force
Determines the required gripping force as a percentage of the nominal gripping force. The gripping
speed is also determined via the gripping force, see chapter 5.1.2.
The recommended minimum gripping force is 50% of the nominal gripping force. If you want
to work with lower gripping forces, you must carry out tests in advance. Keep batch-to-batch
variations in mind.
Address
Grip 0: Index 0x0060, subindex 0x03
Grip 4: Index 0x0064, subindex 0x03
Grip 1: Index 0x0061, subindex 0x03
Grip 5: Index 0x0065, subindex 0x03
Grip 2: Index 0x0062, subindex 0x03
Grip 6: Index 0x0066, subindex 0x03
Grip 3: Index 0x0063, subindex 0x03
Grip 7: Index 0x0067, subindex 0x03
Data Type
UIntegerT(8)
Factory Setting
See Table 11.
Example:
Gripping with nominal gripping force: Set the value to 100.
Gripping with minimal gripping force: Set the value to 25.
Factory Setting
The following grip parameters are preset for all grips:
Module Type
NO PART Limit
RELEASE Limit
Gripping force
CRG 30-050
50 (0.5 mm)
4950 (49.5 mm)
100%
CRG 200-085
50 (0.5 mm)
8450 (84.5 mm)
100%
Table 11: Factory settings of the grip parameters depending on module type