End-Effector Parameters - Okura Yusoki A Series Manual

11.2.

End-effector parameters

Register end effector. Choose [EE type]. Type of EE chosen is displayed at right side.
Pressing the arrow marks at the top left corner allows you to choose the direction of
view.
11.2.1. E.E. type
Type designates the hand (end effector) type that is being used. Each type of hand
(end effector), carton box, bag or vacuum requires distinct information so that the
calculations of the pick and set down are correct. Different hands (end effector) are
used for different stacking situations and the positions of the products differ on how
they actually positioned relative to the robot.
The carton box hand (end effector) clamps the product between two paddles. The
carton box hand (end effector) regularly uses vacuum assist to give additional
support to the product.
The bag hand (end effector) is the hand (end effector) that has two claw type
mechanisms that fit between conveyor rollers and close beneath the bag.
The vacuum hand (end effector) is the hand (end effector) that has a single
horizontal surface with multiple vacuum cups.
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