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SOFTWARE
UNIVERSAL ROBOTS MANUAL — MAR 9, 2023 — RELEASE: V1.0.3
Teaching Mode Panel
To simplify the usability and re-usability of qb SoftClaw, you can teach and store a given grasp value to
recall it whenever you need it in a given Program Node.
As it is shown in the picture below, you can quickly and easily add or remove a grasp value, which is
visualized in a tabled fashion.
For each, you can set/edit the grasp command value through a percent position slider, and you can test it
buy pressing the "Grasp" button on the right of the chosen line. If you are not happy with the given
closure, just iterate this procedure until you are fine with the teached grasp. This panel allows also to
switch from one control modality to another, choosing between
position
and
deflection
.
All of this named grasp value can be recalled by every Program Node at any time.
If a stored grasp previously set is modified at a given time, all its occurrences used in any program are
modified accordingly to the new value set. This is possible thanks to a grasp database saved in the current
Installation loaded.
When you edit a grasp value, in order to use these values even after restarting the robot, you
have to save the Installation
file.
These values are intended as thresholds and can be used by
the user to program the device quickly. A change of value in this window
will not
update the
values in the program nodes already created. This is done on purpose so as not to compromise
programs created with previous values. If you wish to have values that update automatically,
please refer to the
Teaching Mode
section, which is described in the following sections.
The user cannot edit the grasp stiffness
when
position
is setted
in
Mode
row. This parameter
can be edited in the Program Node section or in toolbar (for e-series only).
If you change or remove an Installation file on your robot you may not be able to exploit this
linking capability any longer because the stored grasp database no longer exist. A popup is
shown in Program Node, which permits to recreate the variable.
On the other hand, each saved program still behaves the same as before because each qb
SoftClaw Program Node stores the grasp value also inside the program data.
The small "gear" to enable or disable these advanced settings does nothing at the current state.
