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9.7
Grip Part
The program sequence for gripping a part is Figure 15. The gripping module must be initialized and activated
before it can perform a grip (see chapter 9.6.1). The gripping direction depends on the parameterization of
the respective grip. The module detects the end of the gripping process or an error by continuously monitor-
ing the gripping state. When the parameterized NO PART Limit has been reached, no part has been gripped
and the base jaws remain at this position.
When an error has occurred during gripping, it must be acknowledged as described in chapter 9.9.
EN = 1, HOME = 0
CMD = 1
INDEX = [Grip Index]
HOLDING = 1 ?
no
yes
Part gripped
Base Jaws
moving
NO PART = 1 ?
no
yes
No part detected
FAULT = 1 ?
no
yes
Error handling
Acknowledge error
Figure 15: Program sequence gripping
9.8
Release Part
In order to loosen a grip that has been performed before and to release the gripped part, the program se-
quence Figure 16 must be executed. Releasing the part is initiated by resetting the CMD flag. The direction
of movement depends on the selected grip, which should not be changed during holding (grip index during
releasing = grip index during gripping).
To switch between grips, first release the part and then change the grip index.
