WEISS ROBOTICS GRIPKIT E PRO-S Betriebsanleitung Seite 47

10.1.5 Gripping force
Electrically driven GRIPKITs have an integrated gripping force control. The gripping
force can be set up for each grip independently from 25 to 100 % of the nominal grip-
ping force.
10.1.6 Teaching a grip interactively
The „Teach" button is used to teach the grips directly at the gripping module. Press the
„Teach" button assigned to a grip to learn it. Note, that this button is disabled if there
is no connection to the gripping module. If the „Teach" button is pressed, the teach-in
wizard opens and the gripping module is switched to freedrive. Teaching the grip is
done in three steps. Follow the wizard's instructions. The operation can be canceled at
any time by pressing the „Cancel" button. In this case, the original grip configuration is
retained.
1. Teach the working position
Place the part to be gripped between the gripper fingers and move them towards the
part. Click the „Next" button. The current position value is used as the working positi-
on.
2. Teach the release position
Now, move the gripper fingers away from the part to the desired release position. Click
the „Next" button. The current position value is used as the release position.
3. Setting the part width tolerance
The part width tolerance defines the additional distance the gripper fingers will travel
towards the grip direction to touch a part. Set the required tolerance using the slider
and press the „Finish" button. The wizard is closed and the calculated limits are set as
new grip definition.
The required part width tolerance is dependent on the compliance of the
gripper fingers and of the gripping part. It may be useful to determine the
parameter experimentally, especially with softer parts. Test the gripping
parameters using the „Grip" and „Release" buttons of the respective grip.
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