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SERVO Gripper Control Modes
The servo gripper operates in two distinct control modes: force mode and
position mode. Force mode commands let you open or close the gripper fingers
with a precise amount of force, but give you no control over position. In
position mode, you can accurately position the gripper fingers but you cannot
control the amount of force.
Executing a Force Mode Command
When a force mode command is executed, the servo gripper voltage increases
until the fingers are moving with the specified amount of force. The motor
continues to operate at this voltage until the fingers contact an object or a
hard stop limit.
Note: A force of 30% or greater is required when opening or closing the
gripper fingers from a stationary position. This force is required in
order to overcome the stiction of the fingers. For very fragile objects,
you can reduce the grip force once the fingers are in motion.
If there is nothing available to grip, the fingers move to the end of their travel.
The specified force is maintained until another gripper command is issued.
Executing a Position Mode Command
Position mode commands let you accurately set or read the position of the
gripper fingers. In position mode, the gripper fingers move at maximum
gripper force until the feedback potentiometer detects that the fingers are at
the specified location. At the commanded position, the gripper fingers stop
moving and maintain their position.
Use position mode commands to improve the efficiency of your gripper
application. By precisely specifying how far apart the fingers should open or
close for a particular task, you can reduce the time necessary to complete the
operation.
Warning! Never use a positional gripper command to grip an object. Position
commands are used to accurately position the gripper fingers and operate at
maximum gripper force. When applied to an object, this force can damage the
gripper motor and shorten the life of your gripper.