Schmalz ROB-SET Plus ECBPMi UR, Быстрый старт

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(6) “PART PRESENT”: Checks if workpiece is gripped and sets variable PartPresent
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2
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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).
22 / 23 EN-US · 30.30.01.02291 · 01 · 11/20