3.4.7. Hand open direction setting

3.4.7. Hand open direction setting

 

The palletizing gripper is to be placed downward from above without the need to differentiate the direction as shown below. However, in some cases, the need to open the hand in a specific direction shall be considered (Figure 3.15). The hand open direction function is used to designate direction for a hand in which the hand open direction shall be considered.

 

 

 

Figure 3.15 Palletizing grippers

 

When the mouse right button is clicked on each package, the arrow direction key will be enabled, making it possible to automatically designate the direction as up, down, left, or right by moving the mouse (Figure 3.16). If the user does not want to designate the direction, click the mouse left button on the center right after pressing the mouse right button.

In this case, the arrow means that the hand will be opened in the arrow direction. Also, the designated data are to be used to calculate and save the rotational direction of the hand when a job program is created later.

 

 

 

Figure 3.16 Hand open direction designation function