5.2 Instructions5.2.1 RAPID instructions for grippers5.2.1.1 g_Init - Initialize the gripperUsagesg_Init (replacing the original Hand_Intialize) is used to initialize the gripperwith optionally specified values. For the values that are not specified, the defaultvalues will be used.This instruction can be called before all other gripper-related statements.Basic examplesExample 1g_Init \maxSpd := 20, \holdForce := 10;In this example, the gripper will be initiated with a maximum speed of 20 mm/s anda holding force of 10 N.Example 2g_Init \Calibrate;In this example, the gripper will be initiated with default parameter values. Theargument Calibrate is used to close the fingers and then perform a calibrationwithout holding force.Example 3g_Init \Calibrate, \Grip;In this example, the gripper will be initiated with default parameter values. Theargument Grip is used to close the fingers and then perform a calibration with thedefault holding force of 20 N.Argumentsg_Init [\maxSpd] [\holdForce] [\phyLimit] [\Calibrate] [\Grip][\maxSpd]Data type: numThe gripper's maximum allowed speed in unit of mm/s. If it is not set, the defaultmaximum speed 25 mm/s will be used.[\holdForce]Data type: numThe gripper's expected force in unit of N when gripping and holding the targetobject. If this is not set, the default force 20 N will be used.[\phyLimit]Data type: numContinues on next pageProduct manual - IRB 14000 gripper 1153HAC054949-001 Revision: H© Copyright 2015-2018 ABB. All rights reserved.5 RAPID references5.2.1.1 g_Init - Initialize the gripper
