WEISS ROBOTICS GRIPLINK, Руководство пользователя

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3.10 Parameterize gripping recipes - SETGRIPCFG
This command parameterizes a grip preset directly from the robot program. This way, the desired grip
settings can be saved within the robot program to be transmitted to the GRIPLINK Controller each time
the robot program will be started.
The parameters set with this command will not be saved permanently. They will be lost
when power-cycling the GRIPLINK Controller. Please use the configuration board on the
GRIPLINK
’ s web interface to fully parameterize and permanently save grip presets.
Syntax
GRIPLINK_SETGRIPCFG(< PORT >,< INDEX >,< PARAM0...7 > )
Parameter
< PORT > Index of the device port (0 to 3)
< INDEX > Index of the grip preset to be configured. The number of available presets
depends on the device type.
< PARAM0...7 > Device specific gripping parameters
Which parameters are available depends on the device. If one or more are
not used, they should be specified as 0.
For grippers from Weiss Robotics, for example:
-
Parameter 0: No-part limit (in micrometers)
- Parameter 1: Release limit (in micrometers)
- Parameter 2: Gripping force (in thousandths of a percent)
- Parameters 3 - 7: not used
Example
Configure the grip configuration 2 of the Weiss Robotics IEG 55-020 gripping module at port 0 as
follows:
•
No part limit: 3 mm
•
Release limit: 10 mm
•
Gripping force: 80%
GRIPLINK_SETGRIPCFG(0,2,3000,10000,80000,0,0,0,0,0)