Workpiece configuration
Fig. 6 Workpiece configuration
1. Selection of stored workpieces
1
.
2. Create new workpieces in the list
2
or delete workpieces from the list
3
.
3. Selection of the gripper tolerance
5
to evaluate the gripping result:
–
Workpiece width constant
è
"small"
–
Workpiece width with low variance
è
"medium"
–
Workpiece width with high variance
è
"large"
4. Input workpiece weight
4
.
5. When the
6
function is activated, the parallel gripper moves depending on
the gripping mode
–
internal gripping: 1x open
–
external gripping: 1x closed
If the start position of the parallel gripper is wrong, the user is guided through
the "Teach" function by dialogue.
The function is used to determine the correct gripping position. This requires
gripping a reference object.
6. The preset values can be tested by the "Grip" and "Release" functions. The
user is guided through the function by a dialogue.
Documentation
Information on installation of the software and the technical data of the parallel
gripper.
Fig. 7 Documentation
The weight Tool Center Point (TCP) and the weight settings are configured via the
"General" menu. The gripper fingers provided by the customer must be included
in the weight settings.
Toolbar for manual control of the parallel gripper
After the electrical installation, the functions of the parallel gripper can be tested
manually. Test the functions by pressing the "UR+" button and execute the
"Open" and "Close" commands.
Fig. 8 Toolbar for manual control of the parallel gripper
Integration of "Grip" and "Release" program commands
Fig. 9 Integrating program commands
1. Place
1
"Grip" and "Release" program commands anywhere in the program.
2. Workpiece selection
2
.
3. The functions of the parallel gripper can be tested manually
3
.
4. Gripping result successful/faulty
4
Ä
Option for inserting additional program commands.
8
Cleaning
•
Clean the outside of the product with a soft cloth. Do not use aggressive
cleaning agents.
9
Disassembly
WARNING!
Danger of crushing due to unexpectedly fast-moving loads and unintentional
movements.
•
Remove the payload.
•
Switch off power to the product.
•
Safeguard the power supply from being switched on again unintentionally.
10
Disposal
ENVIRONMENT!
Send the packaging and product for environmentally sound recycling in accord
ance with the current regulations
è
11
Technical data
Size
16
20
25
Robot UR3/UR5/UR10: from software version Poly
Scope CB 3.8.0
Robot software version
Robot UR3e/UR5e/UR10e: from software version Poly
Scope SW 5.2.0
Product weight (moving
mass)
[g]
400
630
1000
Tab. 4 Technical data, general
