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3.4.1. Servo Hand Squeezing Command (HANDPRES)

3.4.1. Servo Hand Squeezing Command (HANDPRES)​

 

With respect to squeezing of servo hand, two parameters are to set as follows.

 

HANDPRES OL=0.0, PR=50

 

 

(1)   OL: Squeeze offset distance [-2000 - 2000]mm

This sets a position to start squeezing at the servo’s moving hand. The position to start squeezing is determined by adding the squeeze offset distance to the Teaching point. If the squeeze offset distance has a negative (-) value, the position to start squeezing will be determined further inside than the Teaching point.

 

(2)   PR: Squeeze force [1.0 - 1000.0]kgf

This is the factor to determine the strength of the force squeezing a workpiece. Thoroughly review the squeeze force value before input to ensure that an actual workpiece would not get damage.

 

 Note

 

l  The servo hand squeeze function must be recorded as the first function in the step. Otherwise the function will not be executed.

 

l  The target position of the step where the servo hand squeeze function (HANDPRESS) is located may be the very Teaching point as recorded, or higher or lower than the point, subject to the squeeze offset distance as set in the function. The reason being is to reduce the cycle time by adjusting the point to start squeezing according to the size of a product for handling.

 

l  If the point to start squeezing as calculated from the squeeze offset distance is lower than the maximum squeeze position of servo hand, 『E1328 Servo hand maximum squeeze position is exceeded』 error will appear.