Grip Part; Release Part - WEISS ROBOTICS CRG Series Mounting And Operating Manual

9.7 Grip Part

The program sequence for gripping a part is Figure 15. The gripping module must be initialized and activated
before it can perform a grip (see chapter 9.6.1). The gripping direction depends on the parameterization of
the respective grip. The module detects the end of the gripping process or an error by continuously monitor-
ing the gripping state. When the parameterized NO PART Limit has been reached, no part has been gripped
and the base jaws remain at this position.
When an error has occurred during gripping, it must be acknowledged as described in chapter 9.9.
EN = 1, HOME = 0
CMD = 1
INDEX = [Grip Index]
Base Jaws
moving
HOLDING = 1 ?
no
yes
NO PART = 1 ?
no
yes
FAULT = 1 ?
no
yes
Error handling
Acknowledge error
Part gripped No part detected
Figure 15: Program sequence gripping

9.8 Release Part

In order to loosen a grip that has been performed before and to release the gripped part, the program se-
quence Figure 16 must be executed. Releasing the part is initiated by resetting the CMD flag. The direction
of movement depends on the selected grip, which should not be changed during holding (grip index during
releasing = grip index during gripping).
To switch between grips, first release the part and then change the grip index.
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