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Damage to the gripper is possible due to insufficient lubrication (dry-running) if the gripper con-
stantly goes through short movements. → every 1000 movements (or at least once per day) the
gripper should be moved through its full range of travel.
For soft parts to be gripped, it may be necessary to increase the clamping travel.
Setting the part width tolerance to the full range of movement of the module (maximum settings)
will deactivate the detection of axis blocking when gripping.
Positive movement direction
Part Width Tolerance / 2
9.8 Software limit switch
The module's travel can be limited via the software limit switch, as shown in Figure 25. There is one limit
switch for an inner range ("MINUS") and one for an outer range ("PLUS"). If the software limit switches
have been activated, then positioning commands to move fingers into this range will get a range error re-
sponse and the command will not be executed. There is also protection from crossing the edges of these
ranges. The monitor will trigger a fast stop which requires acknowledgment if the fingers should be moved
into these areas.
GRIPPER MODULE
WORKPIECE
0
Clamping Travel/2
Nominal Part Width
Figure 24: Parameters defining a grip
- 37 -
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