Gripper enabled

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Presence of error

Gripper in JOG mode

Teaching completed

New zero position setted

Movement execution completed

Recipe correctly uploaded

Home Position reached

Base Position reached

Offset Position reached

Part detected between Offset Position and Limit Position

Part detected between Teach1 Position and Teach2 Position

Limit Position reached

Gripper stopped in undefined position

Recipe mode activated

Virtual switch 1 activated

Virtual switch 2 activated

Virtual switch 3 activated

Virtual switch 4 activated

Base Position: defines one limit of the point-to-point motion (distant from the part to grip)

Offset Position: setpoint position for fast movement approach before switching control mode

Teach1 Position: minimum dimension of part to grip (must be smaller than Teach2)

Teach2 Position: maximum dimension of part to grip (must be greater than Teach1)

Limit Position: defines one limit of the point-to-point motion (distant from the part to grip)

Tolerance: position tolerance for gripper "in-position" (end of a motion)

Virtual switch 1: virtual proximity sensor #1

Virtual switch 2: virtual proximity sensor #2

Virtual switch 3: virtual proximity sensor #3

Virtual switch 4: virtual proximity sensor #4

Tolerance virtual switch: position tolerance for virtual switches

Home Position: reference position (zero)

Limit High: maximum value of stroke operative range

Limit Low: minimum value of stroke operative range

Grip Force: gripping force setpoint

Drive Velocity: velocity setpoint

Acceleration: acceleration setpoint (common for all the movements)

Deceleration: deceleration setpoint (common for all the movements)

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