Gripper Editor NOTE: Help for the remaining parameters is provided directly in the editor. ACE User's Guide, 3.6.x 18316-000 Rev A Page 112 Item Description Grip Dwell Time Release Dwell Time The time (in seconds) to wait, when gripping or releasing, before continuing operation; this should be the actuation time for the gripper. Open/Close Tab Click this tab to access the Open/Close signal settings for the selected tip. Extend/Retract Tab Click this tab to access the Extend/Retract signal settings for the selected tip. Grip/Release buttons Use the grip ( ) and release ( ) buttons to send a grip (close) or release (open) signal to the selected tip.
Extend/Retract but- tons Use the extend ( ) and retract ( ) buttons to send an extend (move out) or retract (move in) signal to the selected tip. Extend/Retract Dwell Time The time (in seconds) to wait, when extending or retracting, before con- tinuing operation. The value represents the minimum time to dwell. After the specified dwell time, the input signals are checked. Tip Offset Shows the current offset for the selected tip. To change the offset, click the button, which starts the Tool Offset Wizard. Tip Radius The radius of the tip when drawing the end-effector in the 3D virtual display. Visible Enables the display of the end-effector tip positions in the 3D virtual display.
Selected Index 0 for an end-effector with only one tip; up to n-1 for an end-effector with 'n' tips. Max Grip Time Only used when a grip input signal is specified, this value specifies the max- imum time in seconds for the grip input signal to become true when picking a part, or false when placing a part. Payload The weight of the gripper in kg. Parent Because the gripper is mounted to the robot, the parent of the gripper is typ- ically the robot. In the case of a tool-changer, the parent changes when the gripper is put on the tool stand. Gripper Tip Selection Program These parameters allow you to enable and call a V+ tip-selection program and specify a task for executing the program.
This is used in the case where the gripper has some additional operation required to switch the tips. For example, there might be some additional I/O that needs to be set (or a motor moved) to physically move the tips