ROBOTIQ 2F-140 - Page 102

2F-85 & 2F-140 - Instruction Manual
4.9.8.Gripper Node
To add and edit a Grippernode inside your robot program, follow the steps below:
For e-Series
1
On the teach pendant, at the top of the screen, tap the Newicon to create a program or the Open icon to load a program.
2
Select Program. The Program window will display.
3
Tap the URCapsmenu in the navigation pane on the left.
4
Tap the Gripper button.
5
Select the node in the robot program and tap the Command tab.
6
Tap the Edit action button to edit the node'sparameters.
For CB-Series
1
Tap Program Robot.
2
Open an empty program or load one.
3
Go the Structure tab and tap the URCapssubmenu.
4
Tap the Gripper button.
5
Go to the Command tab to edit the Grippernode inserted.
6
Tap the Edit action button to edit the node'sparameters.
Info
The gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait()function
script at the beginning of the program or activate with the Gripper Toolbar. Starting from Gripper URCap version 1.0.2,
the Gripper activation script command (rq_activate()or rq_activate_and_wait()) must be preceded by the reset command
(rq_reset()). Thiswill force the gripper'sactivation routine. Thus, if the gripper was already activated, it will activate again.
Command window
The Command window showsthe requested action parameters for the Grippernode. Depending on the position, speed and force
parameters, warning messagesmay display.
To edit the Grippernode, tap Edit action (please refer to the Edit action screen section for more details).
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