Constant-Speed Movement and Grip with ZON Output (OPEN/CLOSE) Mode

In Constant-Speed Movement and Grip with ZON Output (OPEN/CLOSE) mode, the fingers move to a software motion limit at a constant speed (gripping motion speed) and grip the workpiece with a specified gripping force.

To change the gripping motion speed, set the value in the gripping speed adjustment function. For details, refer to "Gripping Speed Adjustment Function".

In Constant-Speed Movement and Grip with ZON Output (CLOSE) mode, the fingers move to a closing direction software motion limit. In Constant-Speed Movement and Grip with ZON Output (OPEN) mode, on the other hand, the fingers move to an opening direction software motion limit.

The fingers, when entering the gripping state while moving, enter the Hold state.

If the Hold state position is within the range of Zon1 or Zon2, the Zone state starts.This mode is useful for checking if the workpiece is within the preset range.

The fingers, when reaching the software motion limit without entering the gripping state, enter the Inpos state.

The following values can be specified in this mode:

Force (N)	The setting range is from 6 to 20.
ZON1(mm)	The setting range is from -999.9 mm to 999.9 mm.
ZON2(mm)	The setting range is from -999.9 mm to 999.9 mm.