37-
9.6
Initialize gripping module and perform a reference run
After switching on the power supply, the gripping module is in the NOT INITIALIZED state. In this state, the
fingers are force-free and the gripping module waits for the command for the initial reference run. The ref-
erence run is performed according to Figure 14.
EN = 1, HOME = 1
CMD = 0
INDEX = [Grip Index]
IDLE = 1 ?
yes
Module inactive
Base Jaws
moving
no
no
yes
FAULT = 1 ?
Error handling
Acknowledge error
Figure 14: Initialization of the gripping module
The reference run can be interrupted at any time by resetting the EN bit. Then the gripping module remains
in the NOT INITIALIZED state. If the reference run was completed successfully, the gripping module changes
to the IDLE state. After resetting the HOME bit, the command selected by the CMD bit will be executed.
If an error occurs during referencing, the FAULT state will be set. This can be acknowledged by resetting the
module with EN = 0 and HOME = 0. The gripping module then changes back to the NOT INITIALIZED state (all
status flags are reset). Once this state has been reached, the reference run can be executed again.
The reference run can also be performed during regular operation by setting the HOME bit. In this
case, the gripping state will be set to NOT INITIALIZED during the reference run.
9.7
Grip Part
The program sequence for gripping a part is shown in Figure 15. The gripping module must be initialized and
enabled (see chapter 9.5.1). The grip preset is selected via the grip index and initiated by setting the CMD
