OnRobot HEX-E QC User Manual page 108

OPERATION
NOTE:
Gentle grip and Workpiece options are only available in the
command.
Select device
If two SG grippers are connected, select whether it is the SG (1) or SG (2) that performs the
action
Target
Width: The target gripping width can be set by using the
button (recommended) or by typing it in manually. If the set value is not within the limits of this
tool, this will appear next to mm.
NOTE:
If the SG is connected via the CB3 tool connector, the Current width and the
Target Width, is shown in percent instead of mm. In each SG Tool manual, you
can find a percentage to mm conversion graph.
When pressed, the gripper will act as if the command is executed.
Depth compensation: During grip/release operations, the robot moves to compensate for
movement of the gripper, so that the gripper remains on target.
Gentle grip: When selected, the gripping speed is reduced at 12.5mm before the specified
target width, this results in a gentler grip, compared to normal grip settings. For the release
command, the gripper moves at full speed and this feature is deactivated.
When the icon is pressed, a graphical illustration of the Depth compensation and the
Gentle grip will appear.
NOTE:
This
current and the saved tool.
NOTE:
It is highly recommended to use the hold-to-run buttons for finetuning,
especially when handling fragile items. See the Technical section on
Handle a Workpiece
Current width
The number shows the Current width value.
will set the Current width as target width.
108
will appear under the gripper image if there is a mismatch between the
for more information.
SG Grip
Save as Target/Save Grasp
How to