4. Using the gripper module

    The gripper module is an end-effector designed for WLKATA Mirobot. Please follow the instruction in below to install and use the gripper correctly.

Power off the manipulator before installing the gripper module, or it could cause damage to the circuits of gripper or Extender Box.

Step 1. Installation of the gripper module

    (1) Power off the manipulator.
    (2) Install the gripper module by screwing it on the end-effector with supplied hex screwdriver.

Installing the gripper module by a hex screwdriver
    (3) Before plug the gripper wire connector into the Extender Box unit, trim off the fix protrusions on the wire connector to allow re-plug-in. Otherwise, the wire connector will be hardly unplugged from the socket.
Trimming off the fix protrusions on the wire connector to allow re-plug-in
    (4) Plug the gripper wire connector into the upper-second socket position (GRIPPER) on the Extender Box unit. Link the Extender Box with the Mirobot by using the supplied IDC cable.
The method of connecting the gripper with the manipulator

Step 2. Control the gripper status (open and close)

    The gripper can be controlled under the COMMAND, TEACHING and BLOCKLY functions in the WLKATA Studio:
    In the COMMAND page, control the gripper by click the End-effect on and End-effector off buttons on the right panel.

Controlling the gripper in the COMMAND function
    In the TEACHING page, control the gripper by editing the Trigger cell and Value cell of the teaching point line.
Controlling the gripper in the TEACHING function
    In the BLOCKLY page, control the gripper by drag and edit the Gripper module which can be found in the Motion panel.
Controlling the gripper in the BLOCKLY function

Step 3. Finishing using of gripper module

    When finish using the gripper, power off the manipulator, and unplug the IDC cable from the back of manipulator.

powered by GitbookThe document revision time： 2021-01-06 16:36:57

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