- 47 -
EN = 0, HOME = 0
CMD = 0
EN = 1, HOME = 0
CMD = 0
IDLE = 1 ?
no
ja
RELEASED = 1 ?
no
yes
Error acknowledged
Part released
Force-free
(motor
currentless)
Base Jaws
moving
9.10
Activating and Deactivating the Module (Setup Mode)
Especially when setting up the gripping process, it may be advisable to deactivate the gripping module. The
fingers are then force-free, but the logic of the gripping module and the position detection are still active.
Thus, e. g. gripping positions can be taught in manually, or parts can be extracted manually. The control se-
quences for both states are depicted in Figure 18.
Please follow the safety instructions when you work directly at the gripping module.
Figure 17: Program sequence acknowledging an error and releasing a part
