Gripper Power Adjustment Function

Overview

When using the gripper, its gripping force may fluctuate according to the number of cycles used. When the gripping force increases or decreases over time (compared to its initial force), this function can be used to collectively increase/decrease the gripper motor power instead of adjusting command arguments one by one.

This function is available in Ver.2.7.2 or higher.

This function is only available when you login as Maintainer.

Operation Procedures

Follow the procedure below to perform adjustment.

1

Press the [F10 Force adjustment] button on the hand page.

This button will not appear if you do not login as Maintainer. In this case, you must login again as Maintainer.

2

The system message appears. Press [OK].

3

When the input screen for increase-decrease rate is displayed, enter the increase-decrease rate. When input is completed, press [OK].

The gripping force can be adjusted within +/- 50% range from 0% (the setting at the time of shipment).

4

The confirmation message will be displayed. Press [OK].

5

When setting is completed, the completion message will be displayed. Press [OK].

If the increase-decrease rate setting value is not appropriate for gripper motion, the following error will be generated.

In this case, the increase-decrease rate is too high or too low. Review the setting value.

Attention

As the increase-decrease rate becomes higher, the load applied to the gripper unit will increase. This may cause damage to the gripper. Be careful not to generate the larger gripping force than the gripper's actual performance limit.