Use this procedure when the Transfer Gripper Error keeps returning.
This guide helps diagnose issues related to gripper opening detection, including sensor position, signal transmission, and cable integrity.
Before starting, make sure the machine is powered off and you have access to both the gripper area and the PLC.
Watch the full video first to understand the diagnostic steps and how to properly verify the sensor and signal behavior.
Quick Overview
This procedure focuses on diagnosing detection and signal issues.
The system works as follows:
Sensor → S719 Cable → PLC
Diagnosis Guide
- Sensor light too early → adjust sensor
- Sensor OK but error remains → check signal path
- Signal received at PLC → issue may be elsewhere
- No signal at PLC → cable or connection issue
Step 1 Check Gripper Movement
Open and close the grippers manually and make sure they reach the fully open position without restriction.
Step 2 Check Sensor Light
Observe the sensor when the grippers are fully open.
- Light ON at the correct position → OK
- Light ON too early → sensor misaligned
Step 3 Adjust the Sensor
Loosen the sensor slightly using a 1.5 mm Allen key.
Adjust it gradually until the light turns ON at the correct position and stays ON when fully open.
Once the correct position is reached, tighten the sensor.
Step 4 Verify the Signal at the PLC
Operate the grippers while checking PLC input 8.
- Light ON → signal is received
- Light OFF → signal not reaching PLC
TIPS : Use one hand to move the grippers and the other to monitor the PLC.
Step 5 Inspect the Cable
If the signal is not received, inspect the S719 cable and its connections:
- Check cable condition
- Inspect all connections
- Replace the cable if needed
Final Check
After completing the procedure, confirm that the system is operating correctly.
Open and close the grippers and verify that the sensor detects the fully open position and that the signal is properly received at the PLC.
If the error no longer appears, the issue has been resolved.
Key Takeaways
- Always verify both mechanical movement and signal detection
- The system depends on the full chain: Sensor → Cable → PLC
- If the error persists, continue troubleshooting beyond the sensor