Doosan M0609 Reference Manual page 25

Item
Auto Release Option
Gripper Setting
Initialize
Grasp
Release
Velocity
Force
Current Position
Grasp
Release
Add New Motion
Grasp Status Sensing
Fault Status Sensing
Requested Position Sensing
Current Position Sensing
Current Sensing
The following list contains skills and commands that can be used in conjunction with this Workcell
Item.
•
Grasp
Description
It selects the gripper's release option during a robot
undergoing emergency stop. The definition of each option
is as follows:
Auto Release Close: Gripper closes to maximum upon
robot emergency stop
Auto Release Open: Gripper opens to maximum upon
robot emergency stop.
Motions for gripper setting are performed.
It sends an initialization signal to the gripper to perform
gripper initialization.
The gripper position when the corresponding workpiece is
grasped.
The gripper position when the corresponding workpiece is
released.
Gripper movement speed.
The gripper's force.
It is the area displaying the current position measured
through the gripper's grasp/release motion tests.
Performs tests for grasping a target item.
Performs tests for releasing a target item.
A new motion can be added. Up to eight motions can be
added.
This is the input signal for the gripper's status.
This is the input signal for the gripper's error status.
This is the input signal for the position value sent to the
gripper.
This is the input signal for the current position of the
gripper.
This is the input signal for the current current value of the
gripper.
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