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ID : 1500
Point Operations
Point operations can be performed according to the specified point number which stores point data before hand. There are three methods for inputting point data: Manual Data In, Teaching Playback, and Direct Teach.
Manual Data In is used for setting a target position by directly specifying a numeric value.
Teaching playback is a method used to specify the target position by jogging the electric gripper to the position to which it actually moves.
Direct Teach is used for specifying the target position by moving the robot by hand up to the position to which the fingers of a gripper actually move after turning off the actuator servo (this method is available for single cam type only). Refer to the Electric Gripper Screen for details on how to set points.
Point Data
Point Data consists of the following data. Software motion limit differs depending on the electric gripper type.
| Con tens | Range |
|---|---|
| Mode | 22 ~ 37 (16H ~ 25H) |
| Step (mm) | (-) software motion limit ~ (-) software motion limit |
| Speed (%) | Constant speed movement/grip : 20 ~ 50 Acceleration/deceleration movement : 20 ~ 100 |
| Force (%) | 30 ~ 100 |
| ZON 1 (mm) | (-) software motion limit ~ (-) software motion limit |
| ZON 2 (mm) | (-) software motion limit ~ (-) software motion limit |
Operation Modes
| Operating Mode | Code |
|---|---|
| Absolute position movement | 23(17H) |
| Relative position movement | 22(16H) |
| Constant speed movement/grip (open) | 32(20H) |
| Constant speed movement/grip (close) | 33(21H) |
| Acceleration/deceleration absolute position movement/grip | 35(23H) |
| Acceleration/deceleration relative position movement/grip | 34(22H) |
| Constant speed movement/grip (open) with ZON | 36(24H) |
| Constant speed movement/grip (close) with ZON | 37(25H) |
ID : 1500