WEISS ROBOTICS GRIPKIT CR PLUS Bedienungsanleitung Seite 38

For parameterization, a position window is specified for each handle by the limit values
RELEASED (part released) and NO PART (no part), in which the gripping part must be
located. If the fingers block within this window while gripping, the gripping module
recognises this as a valid grip and switches to the gripping state HOLDING. If, on the
other hand, the fingers reach the preset "No Part Limit", the gripping state changes to
NO PART to indicate that no part has been gripped. When releasing, the gripping state
changes to RELEASED as soon as the "Release Limit" limit is reached. The robot pro-
gram is stopped and an error message will be displayed, if the limit was not reached.
Danger of collision! If the gripping range is not large enough, it is possible
that parts that are too small or too large may be gripped even if the grip-
ping state outputs NO PART or RELEASED.
Details on the gripping state can be found in the operating manual of the
gripping module.
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