Gripper Editor By default, one end-effector object, IO Driven Gripper, is provided. This is an I/O driven gripper with single or multiple end-effector tips. It uses digital input and output signals to control each tip. Additional gripper objects may be added, as needed, for your application. To add an additional gripper to the workspace, right-click in the folder area of the Workspace Explorer and select New > Device > Tool > IO Driven Gripper . The IO Driven Gripper editor provides an interface for setting various gripper-related parameters, such as end-effector tips, minimum grip time, and maximum grip time.
To open the IO Driven Gripper editor, double-click the Gripper object in the folder area of the Workspace Explorer. The Gripper properties can be exposed for view/control through OPC. For details, see OPC Data Access and Process Control on page 785. ACE User's Guide, 3.6.x, 18316-000 Rev A Page 109