ROBOTIQ Hand-E C10 Instruction Manual page 91

91
WARNING
If the gripper is powered and activated, it will move as soon as a change to the parameter is made (position,
speed, force).
TIP
Change speed and force when grasping fragile objects or other specific parts. In all other cases, it is
recommended to use maximum speed and force.
Grip Check node
In order to add and edit a Grip Check node:
For e-Series
1. On the teach pendant, at the top of the screen, tap the New icon to create a program or the Open icon to load a program.
2. Select Program. The Program window will display.
3. Tap the URCaps menu in the navigation pane on the left.
4. Tap the Grip Check button.
5. Select the node in the robot program to edit it.
For CB-Series
1. Open a robot program or create one.
2. Go to the Structure tab.
3. Tap the URCaps submenu.
4. Select Grip Check.
The Grip Check node is pre-packaged as an If statement that prompts the user to select between if the object is detected and if
the object is not detected.
Selecting the former option allows the user to check a box and choose whether or not the grasp should be validated according to
the object's dimension (in percentage if the gripper is not calibrated, or in mm/in if the gripper is calibrated—depending on the
PolyScope configuration).
Robotiq Hand-E C10 Gripper Instruction Manual
Fig. 4-28: Grip Check Node Interface