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ID : 5828

Hand

Electric-gripper-related parameters.
For detail of parameters, refer to "Electric Gripper Parameter" of ELECTRIC GRIPPER GUIDE.

Setting with the Teach Pendant

To set this parameter with a teach pendant, press [F9 Hand]-[F2 Parameter].
For details about operation, refer to "Parameter Setting Screen of the Eelectric Gripper" of OPERATION GUIDE.

Parameter List

No. Item Name Hand Number Unit Default Description
1 Enable electric gripper 0 - 0 Enable or Disable the hand number 0 of the electric gripper.
0: Disable
1: Enable
2 Enable electric gripper 1 - 0 Same as the hand number 0.
3 Enable electric gripper 2 - 0
4 Enable electric gripper 3 - 0
5 Enable electric gripper 4 - 0
6 Enable electric gripper 5 - 0
7 Enable electric gripper 6 - 0
8 Enable electric gripper 7 - 0
26 Positive software limit 0 mm 0 This parameter is used for setting a positive movable range.
Input range: 0～999.9 (unit: 0.1mm)
Initial value: differs depending on the actuator type
27 Negative software limit mm 0 This parameter is used for setting a negative movable range.
Input range: -999.9～0 (unit: 0.1mm)
Initial value: differs depending on the actuator type
28 Stroke mm 0 This parameter is used for setting actuator stroke length.
Input range: 0～999.9 (in 0.1mm)
Initial value: differs depending on the actuator type
30 Return direction to origin - 0

This parameter is used for specifying the direction in which the fingers return to their original positions.

0: Opening direction
1: Closing direction
31 Return to origin speed % 20 This parameter is used for setting the speed at which the fingers move back to their original positions.
Input rage: 20～50（%）
32 Origin shift mm 0 This parameter is used for shifting the coordinate position of original data by the parameter value specified as original position shift.
Input range: -99.99～99.99 （in 0.01mm）
34 Program maximum speed % 20 This parameter is used for setting maximum speed stored as point data.
If decreasing movement speed of all point data without changing the point data when adjusting the device, this parameter will become effective.
Input range: 20～100 (%)
35 Gripping speed % 20

This parameter is used for setting gripping speed within the effective gripping range in the Accelerated/Decelerated Absolute (or Relative) Movement and Grip mode.

Input range: 20～100(%)
36 The movement distance of the constant speed mm 1 This parameter is used for setting the distance of constant-speed movement in the Accelerated/Decelerated Absolute (or Relative) Movement and Grip mode. The fingers move from the beginning point of constant-speed movement zone to the target position at gripping speed.
Input range: 0.01～99.99（in 0.01mm）
37 Limit width mm 1 This parameter is used for setting limit width during constant-speed movement in the Accelerated/Decelerated Absolute (or Relative) Movement and Grip mode.
Input range: 0.01～99.99 (in 0.01mm)
Initial value: Differs depending on the actuator type.
38 Positioning completed distance mm 1 When the fingers travel to the specified point, the INPOS signals for representing movement completion are asserted just before the fingers reach the specified point. Increase the parameter to shorten tact time of the system.
Input range: 0.01～655.35 (in 0.01 mm)
Initial value: Differs depending on the actuator type.
41 Origin detection method - 0 This parameter is used for changing the method in which the fingers return to their original positions.
0: Stroke End
1: Stroke End + Z Signal
273 to 288 Positive software limit to Origin detection method 1 Same as the hand number 0.
520 to 535 Positive software limit to Origin detection method 2 Same as the hand number 0.
767 to 782 Positive software limit to Origin detection method 3 Same as the hand number 0.
1014 to 1029 Positive software limit to Origin detection method 4 Same as the hand number 0.
1261 to 1276 Positive software limit to Origin detection method 5 Same as the hand number 0.
1508 to 1523 Positive software limit to Origin detection method 6 Same as the hand number 0.
1755 to 1770 Positive software limit to Origin detection method 7 Same as the hand number 0.

ID : 5828

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