Programming With Smart Pendant - YASKAWA Smart Series Application Note

PROGRAMMING WITH SMART PENDANT

The Robotiq 2F gripper is capable of picking a wide variety of shapes by means of fingers that
automatically adapt to the shape of the object manipulated. This adaptation can be a "parallel grasp" or
an "encompassing grasp". Additionally, the gripper is capable of "external" and "internal" grasps. A
visual example of each is provided below. Please review the Robotiq 2F Instruction manual for more
information prior to programming, included a detailed example of the "Equilibrium Line".
Several different features can be used to operate and program the Robotiq 2F Gripper using Smart
Pendant. An overview and instructions on how to use each are included in the following sections.
1. I/O Screen (used in the Verify Gripper section)

View status of Inputs and Outputs (group and individual)

Toggle status of Individual Outputs (i.e. output bit)
2. INFORM Programming

INFORM I/O commands can be used in a job to read/write gripper data

Multiple jobs can be nested using the CALL JOB command
i. User creates a sub-job with all logic required to operate the Robotiq Gripper
ii. User creates a master job that executes the sub-job for common gripper
commands using a single line (e.g. CALL JOB: Robotiq-2F Force=255 etc.)
3. Block I/O

Physically open/close the Robotiq gripper during teaching

Quickly add gripper open/close INFORM command sequences to the "current job"
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