External Tool Finishing Kit - Instruction Manual
1.1.2. Object picking
The Hand-E Gripper has a single actuator for opening and closing the fingers. It also allows internal gripping: fingers can pick hollow
parts from inside by applying pressure with the outer surface of the fingers.
See the figure below for a representation and refer to the Picking Features section for details on available position commands for your
gripper.
Fig. 1-4: Hand-E Gripper internal and external gripping
1.1.3. Setup and Control
The Hand-E Gripper has an embedded object detection feature based on indirect sensing methods. When picking an object with the
" go to" command, the gripper status indicates whether or not an object has been picked, using only an object detection bit (0 or 1).
When an object is detected, the gripper no longer increases the force exerted on the object. If the object is being dropped, the gripper
automatically exerts more force until the object is detected or until the position target from the " go to command" is reached.
For more details on the installation, the couplings, the Object Detection, the wiring and the control, please refer to the Hand-E
Instruction Manual.
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