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8.2.3.2
Grip Parameters
Four grips can be pre-parameterized. The factory settings depend on the build module type and are shown
in Table 11.
All grips have the same scope of functions and have the following parameters:
NO PART Limit
Indicates the NO PART Limit for the respective grip. When performing a grip, the gripping module tries
to position the base jaws on this target position. If the base jaws block due to a gripped part before the
NO PART Limit is reached, the part is considered gripped (gripping state HOLDING). When the NO PART
Limit is reached, the part is considered not gripped (gripping state NO PART). The position is indicated
in 1/100 mm.
Address
Grip 0: Index 0x0060, subindex 0x01
Grip 4: Index 0x0064, subindex 0x01
Grip 1: Index 0x0061, subindex 0x01
Grip 5: Index 0x0065, subindex 0x01
Grip 2: Index 0x0062, subindex 0x01
Grip 6: Index 0x0066, subindex 0x01
Grip 3: Index 0x0063, subindex 0x01
Grip 7: Index 0x0067, subindex 0x01
Data Type
IntegerT(16)
Factory Setting
Example:
The nominal gripping position during external gripping of a part is 7 mm; the tolerance is set to 2 mm.
The NO PART Limit must therefore be set to 5 mm, and the parameter must be set to 500.
RELEASE Limit
Indicates the RELEASE Limit for the respective grip (prepositioning). This is the target position for releas-
ing the grip. When it is reached, the gripped part is considered released (gripping state RELEASED). The
position is indicated in 1/100 mm.
Address
Grip 0: Index 0x0060, subindex 0x02
Grip 4: Index 0x0064, subindex 0x02
Grip 1: Index 0x0061, subindex 0x02
Grip 5: Index 0x0065, subindex 0x02
Grip 2: Index 0x0062, subindex 0x02
Grip 6: Index 0x0066, subindex 0x02
Grip 3: Index 0x0063, subindex 0x02
Grip 7: Index 0x0067, subindex 0x02
Data Type
IntegerT(16)
