Robotiq - 2F-140
Item | Description |
|---|---|
Modbus Address | It selects the predefined Modbus address. The IP address and name configured by the user for the Modbus slave equipment are displayed. To add new items, go to Setting > Network > Predefined Modbus menu, and configure. |
Connect | Equipment is connected to the selected Modbus address, and buttons used to test gripper motion are activated. |
Auto Release Option | It selects the gripper’s release option during a robot undergoing emergency stop. The definition of each option is as follows: Auto Release Close: Gripper closes to maximum upon robot emergency stop Auto Release Open: Gripper opens to maximum upon robot emergency stop. |
Initialize | It sends an initialization signal to the gripper to perform gripper initialization. |
Grasp | The gripper position when the corresponding workpiece is grasped. |
Release | The gripper position when the corresponding workpiece is released. |
Velocity | Gripper movement speed. |
Force | The gripper’s force. |
Current Position | It is the area displaying the current position measured through the gripper’s grasp/release motion tests. |
Add New Motion | A new motion can be added. Up to eight motions can be added. |
Grasp Status Sensing | This is the input signal for the gripper’s status. |
Fault Status Sensing | This is the input signal for the gripper’s error status. |
Requested Position Sensing | This is the input signal for the position value sent to the gripper. |
Current Position Sensing | This is the input signal for the current position of the gripper. |
Current Sensing | This is the input signal for the current current value of the gripper. |
This Workcell item is an electric gripper operated with Modbus TCP. The following list contains skills and commands that can be used in conjunction. Refer to each skill’s manual for the operation of the skill.
- Grasp
- Release
- Pick
- Place
- Pick Pallet
- Place Pallet
- Insert