Accelerated/Decelerated Relative Movement and Grip Mode

In the Accelerated/Decelerated Relative Movement and Grip mode, the fingers can move until they almost gets to the position specified as a current position utilizing trapezoidal speed control. The gripping force specified in parameter becomes valid.

If the fingers grip a workpiece within the specified limit width and constant-speed movement zone, the HOLD and ZON signals are output. If the fingers grip the workpiece exceeding the effective gripping range, they stop moving at the position (movements + limit width) and the INPOS signals are asserted while the HOLD signal is deasserted. Parameters can be checked and edited at "Parameter Setting Screen of the Eelectric Gripper" . If the fingers grip the workpiece out of the effective gripping range, the ZON signal is deasserted after the HOLD signal is asserted.