1.) Before removing the gripper fingers, press the “e-stop” button and move the arm to a good accessible position.
2.) Reset the “e-stop” while holding the arm at the desired position
3.) Using a flat-ended Allen Wrench, remove each of the screws that hold the grippers onto the gripper actuator. If the head of the screw looks worn, replace it.
4.) To reinstall the grippers, simply reverse this process. Do not over tighten the screws or they may strip, or the heads may become rounded. Depending upon the type of gripper being fitted, different holes and screw sizes may be used.