9 Operation
The robot must be fully operational to use the gripper (robot status flashes green)
(1)
Select the “Program” button.
(2)
Select “URCaps”.
(3)
Select the “Schmalz Gripper” URCap.
You can create the robot program by selecting several of the following functions:
(4)
“SUCTION”: Workpiece is gripped (activate suction)
1
2
3
4
5
6
(5)
“RELEASE”: Workpiece is released (deactivate suction)
(6)
“PART PRESENT”: Checks if workpiece is gripped and sets variable “PartPresent”
The following program example illustrates the use of the functions:
1. “GripPose” is moved to grip a workpiece (lines 3/4).
2. Suction is activated (line 5).
3. A check to see if the workpiece is gripped securely is performed (line 7).
4. After successful gripping (PartPresent==TRUE), a set-down position is moved to (lines 10/11).
5. The workpiece is released from the gripper (line 12).
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EN-US · 30.30.01.02879 · 00 · 06/21
Содержание ROB-SET ECBPi MATCH UR
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