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lease“ buttons, you can run the grip at any time for test purposes. Check „Use grip mon-
itoring“ to activate the grip monitoring feature.
If this is activated, the gripped part is
continuously monitored during handling and the robot program will stop immediately
when the part is lost.
The grip monitoring only applies to this grip and is automatically deactivated when the
part is released. At runtime, program execution will be paused until either the grip has
been successfully established (gripping module changes to „HOLDING“) or no part has
been found (gripping module changes to „NO PART“).
Caution - Danger of collision! If the gripping window is not large enough, it
is possible that parts that are too small or too large may be gripped even if
the gripping state outputs NO PART or RELEASED.
If the part was successful gripped, the commands assigned to the sub-command
„Holding“ are executed. If the grip was not successful, the commands assigned to the
sub-command „NO PART“ are executed.
Summary of Contents for CRG 200-085
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