productive robotics OB7 User Manual page 50

GRIPPER
This section is used to configure a gripper for OB7. You may have any number of grippers. This
configuration information is used by OB7 in order to know how to activate or control the gripper.
OB7 comes pre-programmed to use certain grippers. If another gripper is to be used with OB7, its
information must be entered here.
Gripper: Select the gripper to be edited.
Name: Enter the name of the gripper.
Close Output: Select the signal that OB7 should use to close the gripper.
Close Time: Set the time it takes for the gripper to fully close.
Open Output: Select the signal that OB7 should use to open the gripper.
Open Time: Set the time it takes for the gripper to fully open.
Arm Output Voltage: Select the voltage required to power this gripper.
Object Acquisition Input: Select the input signal that informs OB7 that the gripper has closed on,
or grasped, an object. If this is a vacuum gripper, this signal tells OB7 that the vacuum has been
created and the suction cup has hold of the object.
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