Gripper Close Function

Description

A gripper close function ensures that right timing, precise force, and correct payload are applied.

 

To create Close Gripper Function

  1. Cut out the first set of Set, Wait, Payload commands.

  2. Tap the Set command node and tap the cut icon found on the right side of the main screen.

  3. Tap the Wait command node and tap the cut icon.

  4. Tap the Payload command and tap the cut icon.

    These three commands are transferred in the clipboard toolbox.

  5. In the multitask screen, tap the Close function of Gripper.

  6. Tap the add icon in the main screen and choose the Clipboard toolbox.

 

  1. In sequential order, insert the Set, Wait, Payload commands into the Close Gripper function.

    7.1. Tap the Set command.

    7.2. Tap the add icon below.

    7.3. Tap the Wait command.

    7.4. Tap the add icon below.

    7.5. Tap the Payload command.

  1. Tap again the Main Program to insert the Gripper Close Function into the program tree.

  2. Tap the command node Move to: Point_2 and then the add icon.

  3. Choose the Commands toolbox. Tap the Call icon, and a node with the Module and Function fields appear.

  4. Select Gripper in the Module field and Close in the Function field.

You are able to program a Gripper Close Function once, and whenever you need to close the gripper, just call the function.