External Tool Finishing Kit - Instruction Manual
Tip
Change speed and force when grasping fragile objects or other specific parts. In all other cases, it is recommended to use
maximum speed and force.
Grip Check node
In order to add and edit a Grip Check node:
On e-Series
1
On the teach pendant, at the top of the screen, tap the New icon to create a program or the Open icon to load a program.
2
Select Program. The Program window will display.
3
Tap the URCaps menu in the navigation pane on the left.
4
Tap the Grip Check button.
5
Select the node in the robot program to edit it.
On CB-Series
1
Open a robot program or create one
2
Go to the Installation tab
3
Tap the URCaps sub-menu
4
Select Grip Check
The Grip Check node is pre-packaged as an If statement that prompts the user to select between if the object is detected and if the
object is not detected.
Selecting the former option allows the user to check a box and choose whether or not the grasp should be validated according to the
object's dimension (in percentage if the Gripper is not calibrated, or in mm/ in if the Gripper is calibrated—depending on the PolyScope
configuration).
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