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Prohibited
Area
The software limits can be set via the command interface, a script or the web interface ("Settings" → "Mo-
tion Configuration").
These software limits do not represent a safety function as understood by the machine directive.
The software limit switches are always related to the reference position of the base jaws. Bodies
on the base jaws or on the gripper jaws are not included!
If the fingers are within the forbidden area when the software limit switches are activated, then
only movements to leave this area will be possible.
You will find more information on this subject in the "WSG Command Set Reference Manual" and
the "WSG Scripting Reference Manual".
9.9 Fast Stops requiring acknowledgment
The module offers a so-called Fast Stop to put itself into a defined state in case of an error or malfunction.
Fast Stops are displayed by setting the SF_FAST_STOP flag in the status word. If a fast stop is triggered, for
example due to an insufficient voltage error, then all movement commands will be rejected until the error
GRIPPER MODULE
Prohibited Area
Working Range
Software Limit
Software Limit PLUS
Figure 25: Software limits
Working Range
MINUS
- 38 -
Prohibited
Area
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