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36 — SOFTWARE
The custom grasp icon allows to have more programming functionalities through the Advanced panel,
that will be described in the next section. Finally thanks to Try it! and Release buttons you can test the
closing force without starting the Robot program.
Advanced Panel (Teaching Mode)
This panel is intended to more specific applications, in which it is necessary to have more control in the
applied force or in the arm position. It allows the user to switch from deflection control mode
to position control mode and vice-versa.
When deflection control mode is enabled the panel shows a percentage slider, that controls the grip
force, and a button (fully open) that commands the claw to move its shaft to the max opening value.
Once in deflection mode, the qb SoftClaw does not apply any force selecting zero in Grasp
command. It does not open if it is closed.
Selecting fully open button disables the Grasp command slider.
To go back to Grasp modality, just press again this button or tap on the percentage value: a
numeric keyboard allows you to choose the force percentage.
On the other hand, when position control is selected two slider are enabled: one to control the position of
movable arm, and one to control its stiffness. The position slider goes from 0 mm (completely closed) to 89
mm (completely open).
If you realize that the closing value will be useful for you in the future, whatever the control mode, save it
with
create button.
This tab is strictly linked to Theaching Mode tab in the Installation Node since you can recall (from the
combo box), add, modify or remove a stored grasp value from the internal database, for example
On the other hand, if you want to use a stored grasp just select it from the drop down menu. Once a saved
grasp is selected, the following buttons are enabled:
UNIVERSAL ROBOTS MANUAL — MAR 9, 2023 — RELEASE: V1.0.3
Figure 11. — Basic Panel in Program Node
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