Sometimes, the gripper works in a smaller travel range than the recommendedvalue 25 mmx2. Given this argument, the system will use the value to determinethe maximum possible travel range of the gripper.The value should be within 0-25 mm. If it is not set, the default value 25 will beused.[\Calibrate]Data type: switchIf this argument is declared, the gripper will undergo a calibrating process withoutholding force. Note that the gripper will move inward to the limit first.[\Grip]Data type: switchIf this argument is declared, the gripper will undergo a calibrating process with thedefault holding force of 20 N. Note that the gripper will move inward to the limitfirst.This argument is always used together with the argument [\Calibrate].LimitationsThis instruction is allowed only in gripper tasks T_ROB_R and T_ROB_L.Program executionIf Calibrate or [\Grip] is declared, the program will pause until the calibrationprocess is completed.Syntaxg_Init['\' maxSpd ':='] IN) of num> ','['\' holdForce ':='] IN) of num> ','['\' phyLimit ':='] IN) of num> ','['\' Calibrate ] ','['\' Grip ] ';'116 Product manual - IRB 14000 gripper3HAC054949-001 Revision: H© Copyright 2015-2018 ABB. All rights reserved.5 RAPID references5.2.1.1 g_Init - Initialize the gripperContinued
