28-
The recommended minimum gripping force is 25% of the nominal gripping force. If you need
to grip your workpiece with a lower gripping force, please run suitable tests with your applica-
tion-specific fingers mounted. Keep batch variations in mind. If in doubt, discuss your applica-
tion with our technical support team.
Address
Grip Preset: Index 0x0060, Subindex 0x03
Grip Preset: Index 0x0061, Subindex 0x03
Data type
UIntegerT(8)
Factory setting
see Table 12
Example:
Gripping with nominal gripping force: Set the value to 100
Gripping with minimum gripping force
6
: Set the value to 25
8.2.2.3
Diagnostic Parameters
Duration of the last successful gripping operation
Returns the duration of the last successful gripping operation in milliseconds.
Address
Index 0x00A0, Subindex 0x01
Data type
UIntegerT(16)
Factory setting
(not available)
Example:
The last gripping operation took 42 ms. Reading the parameter returns the value 42.
Duration of the last successful release operation
Returns the duration of the last successful release operation in milliseconds.
Address
Index 0x00A0, Subindex 0x02
6
The recommended value for the minimum gripping force is 25%. See chapter 5.1.2.