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OPERATION
6. Operation
NOTE:
It is assumed that the Installation has finished successfully. If not, first do the
installation steps in the previous section.
6.1. URCap Commands
URCap commands provide an easy way to program an application.
6.1.1. 3FG15
3FG Grip
When the 3FG Grip command is executed, the gripper will try to reach the specified target
(Diameter and Force). The different functions are explained below.
The command name in the robot program shows bullets • and a number in parenthesis (X).
•(x)• Bullets outside the parenthesis means external grip
•
(•x•) Bullets inside the parenthesis means internal grip
•
•
The number in parenthesis shows the target diameter
Select device
When two grippers are used, these buttons will select which one of the two grippers performs
the action. The active button will have a blue background.
Grip workpiece
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