2.6.3 System commissioningServo modulePrerequisites• The gripper has been installed onto the robot arm correctly.• The Smart Gripper add-in has been installed correctly.• The gripper has been powered on and the communication is established.ProcedureNoteActionSee IRB 14000 gripper FlexPend-ant application on page 45.xx1500000833Open Smart Gripper and choose the gripper tobe tested.1On the Servo module tab page, click the Jog -button until the two fingers of the gripper are indirect contact with each other, which is the zeroposition used for calibration.2xx1500000834Click the Calibrate button to perform the calibra-tion.The LED on the right of the Calibrate button islightened.3xx1500000835Enter 20 in the text box next to the Move to buttonand then click the button.The gripper moves to the position 20 mm far.4Continues on next pageProduct manual - IRB 14000 gripper 573HAC054949-001 Revision: H© Copyright 2015-2018 ABB. All rights reserved.2 Installation and commissioning2.6.3 System commissioning
