Bending
Bending strategy
You can choose the Bending strategy in this section of the Strategy panel.
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The Support+Vacuum strategy is the default. During the bending, the gripper supports the part, and the vacuum remains on, holding the part. The gripper executes a carefully calculated trajectory in sync with the position of the beam, and follows the flange of the part as it arcs upwards.
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With some types of dies, or with certain bending processes, the controller is not able to get the BendMaster to track the part trajectory precisely and the vacuum gripper may slip or lose grip during the bending. In these situations the No Support strategy is useful. Once the beam has lowered and clamped the part, the gripper lets go, and waits for the bend to be completed before moving up and regripping the part:
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The No Vacuum strategy is in between these two. The gripper releases the part vacuum, but tracks the beam and moves swivels up to follow the movement of the part. With this strategy, the gripper continues to support the part (especially if the part extent is large), but some slippage between the part swivel movement and the robot movements are tolerated because the vacuum is off.
Adding a regrip
An additional option available in this section of the Strategy panel is the ability to add a regrip. Clicking on the Add Regrip button brings up a menu like the one alongside.
With this, you can choose to regrip the part (change the position and orientation of the gripper, or to even change the holding plane by which the part is held).
These regrip options are explained in greater detail in the Regrip section.