5. Operating the grippers

The MEGP 25* grippers are controlled in a similar manner as the Meca500. They can be opened or closed using the GripperOpen and GripperClose commands. The gripping force can be configured using the SetGripperForce(f) command, where f ranges from 5% to 100% (i.e., from 0 to approximately 40 N). By default, the grip force limit is 40%. Gripping velocity can be set using the SetGripperVel(v) command, where v is the finger velocity limit, ranging from 5% to 200% (approximately 100 mm/s). By default, the finger velocity limit is 40%.

The gripper also has position control commands such as MoveGripper and SetGripperRange that allow users to move the gripper or set a range limit. Consult the Mecademic Robots Programming Manual for more details on these commands.

5.1. Firmware update

If you upgrade the firmware of your robot (using the procedure described in the MecaPortal operating manual) while an MEGP 25* gripper is installed, the firmware of the gripper will be automatically updated. Otherwise, you can update the firmware of your gripper separately by following the same procedure, but selecting the file m500_exttools_*.update, instead of the file Meca500_E_LD_*.update.

5.2. Safety

The MEGP 25* grippers are designed with safety in mind, however, additional parts connected to (e.g., fingers) or held by the gripper may lead to risks of injuries. Pay attention to gripping force to avoid ejecting workpieces or third-party hardware.

Warning

If the gripper is holding a part for a long time, its main body will become very hot. This is normal.

5.3. Activation, homing and E‑Stop

If an activated and homed robot with an MEGP 25* gripper becomes deactivated, the gripper fingers are no longer controlled and become freely movable. However, the fingers positioning is still being precisely measured, and you do not need to home the robot again (only re-activate it).

If an E-Stop is activated on a Meca500 R3, the whole system is powered off, while on a Meca500 R4, power is removed from the robot motors AND the MEGP 25* gripper connected to the robot. Therefore, once the E-Stop is removed and reset, you must not only reactivate the robot, but also home it.

Danger

After an E-Stop or after deactivating the robot, the MEGP 25* gripper no longer maintains a gripping force and if it is holding a part, the part might fall.

5.4. Maintenance and inspection

As part of regular maintenance, it is important to ensure that the MEGP 25LS gripper travels the full stroke every 1,000 cycles or at least once daily, whichever occurs first.

Periodically inspect the connectors of the communication cable. If the connectors are loose or broken, stop using the gripper immediately and order a replacement cable.

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