WEISS ROBOTICS GRIPKIT E PRO-S Betriebsanleitung Seite 46

gripping, the gripping state changes to HOLDING. If the fingers reach the specified „No
Part Limit" during gripping, the gripping state will change to NO PART to indicate that
no part has been gripped. When releasing a part, the gripping status changes to RELEA-
SED as soon as the „Released Limit" has been reached. The robot program is stopped
and an error message will be displayed, if the limit was not reached.
Danger of collision! If the gripping window is not large enough, it is pos-
sible that parts that are too small or too large may be gripped even if the
gripping state outputs NO PART or RELEASED.
Details on the gripping state can be found in the operating manual of the
gripping module.
10.1.4 Grip direction
The gripping direction is determined by the relation of the position limit values to one
another. If the „No Part Limit" is larger than the „Release Limit", the gripping module
performs an internal grip, if the „Release Limit" is larger than the „No Part Limit", an
external grip will be performed.
When gripping and releasing, electrical gripping modules stop at the „No
Part Limit" and the „Release Limit". As opposed to this, pneumatic gripping
modules will always travel the complete stroke.
External and internal gripping example
16 16
Position Limit Position Limit
NO PART RELEASED
NO PART HOLDING RELEASED
0 Position
Position Limit Position Limit
RELEASED NO PART
RELEASED HOLDING NO PART
0 Position