WEISS ROBOTICS CRG 200-085, Instruction Manual

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6
EN
GL
ISH
UR
6.1.2 Output circuit
The gripping state is output via the outputs of the gripping module. The outputs are
designed as a push-pull circuit.
Out 2 OUT1 OUT0 Gripping state
0V 0V 0V wait for command (IDLE)
0V 0V 24V release workpiece (RELEASED)
0V 24V 0V no workpiece detected (NO PART)
0V 24V 24V holding workpiece (HOLDING)
24V 0 oder 24V 0 oder 24V Error
7 Scope of delivery
The following components are included in the GRIPKIT CR PLUS package for UR:
• Gripping module (see chapter „Model variants“)
• Active mounting plate (see chapter „Model variants“)
• Connection kit GRIPKIT EASY/PLUS (Part No. 5070018)
• For GRIPKIT CR PLUS S: two spacer plates (Part No. 5020063)
• USB-KEY-GRIPKIT (Part No. 5090008)
• Quickstart GRIPKIT CR PLUS (Part No. 5080030)
Additional Accessories
GRIPKIT CR PLUS does not contain any fingers, since those are usually highly applica-
tion-dependent.
Order matching fingers from our standard product range separately.
7.1 Content of the included USB flash drive
The included USB flash drive contains the URCaps plug-in software as well as sample
programs and the documentation of the gripping module.