2F-85 & 2F-140 - Instruction Manual
4.9.4.Limiting your Gripper Force and Speed
Grippers can have their force and speed limited at root-level when using the teach pendant. Follow these instructionsto enable
this.
Fig. 4-18: Limiting the Gripper Force and Speed
1. Depending on your robot:
l
For e-Series: Go to Installation > URCaps> Gripper > Configuration
l
For CB-Series: Go to Installation > Gripper > Configuration
2. Enter your password. Default isrqsafe.
3. Tap Unlock
4. To set a maximum opening/closing speed for your grippers (noted as a percentage of itsdefault speed), select the box next
to the "Maximum Speed" field, and enter a value. You can also limit grip strength by setting a value under field "Maximum
force". Values are set, tap Lock. Thissavesvaluesyou entered.
Fig. 4-19: Lock the Maximum Force and Speed
90
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