OnRobot HEX-E QC User Manual page 107

OPERATION
Center of gravity CX, CY, CZ: set the location of the center of gravity of the workpiece.
6.1.6. SG
SG Grip / SG Release
The
SG Grip/SG Release
When the
SG Grip/SG Release
specified target Width, moving by the default Gentle grip speed, and if selected, Depth
compensation. The different functions are explained below.
NOTE:
The gripper first needs to be initialized, otherwise "Program is not finished"
error message can appear. In this case open the Toolbar and click on the
Initialize button.
WARNING:
When working with the SG, please make sure that the grippers inward/outward
motion is not obstructed, otherwise the positioning system may get out of sync.
If that were to happen, move the grip/release point away from the workpiece,
and reinitialize the gripper.
The command name in the robot program shows a number in brackets that represent the
target width. If two SG gripper are used, a number in squared bracket will show what gripper
performs the action.
command is used to grip or release a workpiece.
command is executed, the gripper will try to reach the
107