ABB FlexLoader Vision Product Manual page 244

14 FlexLoader Vision Lite
14.5 FlexLoader Vision Lite configuration
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Each section for a gripper contains basic data about the gripper as well as the set
up of the gripper fingers. The following basic parameters are used:
xx1800001021
Parameter
GripperNumber
GripperStroke
InnerGripSafety
OuterGripSafety
GripperBaseRotation
Each section for a grip finger contains basic data about the grip finger as well as
the set up of the positions. The following basic parameters are used:
xx1800001022
Parameter
FingerType
FingerRadialLength
FingerTangentialWidth
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Description
Serial number for gripper data. Must start at 1 and must be
continuous for each gripper that is configured. This is the
number that can be selected in FlexLoader Vision Lite user in-
terface.
Stroke per finger in mm.
Used when gripping from the inside. Indicates the safety dis-
tance between the gripper fingers in the closed position and
the minimum diameter that can be gripped. Typically 2–3 mm.
See the images below.
Used when gripping from the outside. Indicates the safety dis-
tance between the gripper fingers in the open position to the
largest diameter that can be gripped. Typically 2–3 mm. See
the images below.
Indicates the rotation of the gripper when installing the robot.
Used when the gripper is drawn in FlexLoader Vision. Typically
0°, 30°, 60° or 90° (D in the image below).
Description
Specify 0 for internal gripping and 1 for external gripping.
Specify the length of the finger in radial direction in mm (B in
the image below).
Specify the width of the finger in mm (C in the image below).
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Product manual - FlexLoader Vision
3HAC051771-001 Revision: B