36-
HOLDING
Part to be gripped
NO PART Limit
RELEASE Limit
Position
NO PART
RELEASED
0
HOLDING
NO PART Limit
RELEASE Limit
Position
NO PART
RELEASED
0
Part to be gripped
Grip Outside
Grip Inside
Figure 13: Gripping range and direction of grip
If the base jaws block outside the position window, e. g. at the end stop of the movement, the
workpiece is considered to be released or no part was detected, depending on the direction of
movement.
Danger of collision. If the gripping range is not large enough, workpieces that are too small or too
large may be gripped, although the gripping state is NO PART or RELEASED. If in doubt, please evalu-
ate the current jaw position.
9.5.1
Gripping Direction
The gripping direction is determined by the RELEASE LIMIT and the NO PART LIMIT position values: If the
position for the NO PART LIMIT is smaller than that for the RELEASE LIMIT, the gripping module grips to the
inside (Figure 13, "Grip Outside"). If the position for the NO PART LIMIT is larger than that for RELEASE LIMIT,
the gripping module grips to the outside (Figure 13, "Grip Inside ").
