WEISS ROBOTICS GRIPKIT CR EASY, Instruction Manual

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Electrical gripping modules may need to be referenced after starting. To do this, press
the "Home" button. If the initialization was successful, the "State" changes from "Not
initialized" to "Idle".
The initialization can be carried out inside ("Inside") or outside ("Outside").
8.1 Grip parameterization
Each grip uses a position window that is defined by the "Release Limit" and the "No
Part Limit". For a valid grip, the part must be located in this window. If the part was
found during gripping, the gripping state changes to HOLDING. If the fingers reach the
specified „No Part Limit“ during gripping, the gripping state will change to NO PART
to indicate that no part has been gripped. When releasing a part, the gripping status
changes to RELEASED as soon as the „Release Limit“ has been reached. The robot pro
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gram is stopped and an error message will be displayed, if the limit was not reached.
Danger of collision! If the gripping window is not large enough, it is pos -
sible that parts that are too small or too large may be gripped even if the
gripping state outputs NO PART or RELEASED.
8.1.1 Grip direction
The gripping direction is determined by the relation of the position limit values to one
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