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NO PART LIMIT
Specifies the NO PART LIMIT value for the respective grip preset. When gripping a workpiece, the grip-
ping module tries to move the base jaws to this target position. If the base jaws block due to a workpiece
between the its fingers before NO PART LIMIT position is reached, the workpiece is considered gripped
(gripping state turn to HOLDING). If NO PART LIMIT position can be reached without blocking the fingers,
the workpiece is considered as not gripped (gripping state turns to NO PART). The position is specified
in 1/100 mm.
Address
Grip Preset 0: Index 0x0060, Subindex 0x01
Grip Preset 1: Index 0x0061, Subindex 0x01
Data type
IntegerT(16)
Factory setting
see Table 12
Example:
The nominal workpiece width when gripping from the outside is 7 mm, the tolerance is selected as 2
mm. Thus, the NO PART LIMIT must be set to 5 mm which corresponds to a value of 500.
RELEASE LIMIT
Indicates the RELEASE LIMIT for the respective grip preset. This position is approached when the work-
piece is released. If it can be reached, the workpiece is considered released (gripping state RELEASED).
The position is specified in 1/100 mm.
Address
Grip Preset 0: Index 0x0060, Subindex 0x02
Grip Preset 1: Index 0x0061, Subindex 0x02
Data type
IntegerT(16)
Factory setting
see Table 12
Example:
The RELEASE LIMIT value for releasing a workpiece should be 10 mm: Set the value to 1000.
Gripping Force
Specifies the required gripping force as a percentage of the nominal gripping force. The gripping speed
is also determined via the gripping force, see chapter 5.1.2
