Table of Contents
Advertisement
RELEASING
POSITIONING
ERROR
The gripper state does not indicate whether the gripper is referenced or not. Instead, the system
state flags (SF_REFERENCED) must be read to check this.
The state of the gripper is shown like the status word in the side bar of the web interface, see Figure 22.
The diagram in Figure 23 shows the possible transitions between the module's states.
ERROR
Fast Stop
Acknowledge
command
IDLE
Pre-positioning
Position
command
reached
POSITIONING
Stop command: Issuing a Stop command in any state (except ERROR) will abort the current action and immediately return to IDLE state.
The gripper is opening
The gripped part is being released, the fingers are moving.
Pre-positioning
The grippers are being pre-positioned and the fingers are moving.
Error
An error occurred carrying out the last command. For errors which require
acknowledgment, the SF_FAST_STOP flag is also set in the system status
word. After any acknowledgment required, the movement can be restarted.
Error during
command execution
occurred
No part detected at
given width and within
clamping range
Grasp
GRASPING
command
Part detected and
grasping force
established
Figure 23: Transitions between the grasping states
Release width reached
NO PART FOUND
PART LOST
Part was
lost/removed
while holding
HOLDING
- 35 -
Release
command
RELEASING
Release
command
Release
command
Advertisement
Table of Contents
