OnRobot UR CB3 Series User Manual page 30

OPERATION
State
External grip with target force detected
Internal grip with target force detected
Current diameter
The number shows the Current diameter value.
will set:
the Target Diameter as Current diameter – 3 mm if grip workpiece
•
the Target Diameter as Current diameter + 3 mm if grip workpiece
•
NOTE:
To enhance Diameter precision the Target Force is not applied when using
these buttons
Workpiece
the workpiece weight can be entered. The URCap software will then perform the
•
calculation of the resulting payload mass considering the gripper, the Quick Changer, and
the workpiece mass.
3FG Release
When the
3FG Release
Target Diameter. The different functions are explained below.
30
Feedback image
These are open and close hold-to-run buttons.
command is executed, the gripper will try to reach the specified
is selected.
is selected.