Brooks PreciseFlex PFDD4, Reference Manual

Page: 90 / 145

Gripper Support PreciseFlex™ DDR Collaborative Robots
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
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Copyright © 2022, Brooks Automation, Inc.
Software Methods
Opening and closing the gripper is as simple as triggering the proper outputs as indicated in the DIO truth
table above. The following GPL subroutines were used during testing.
Const Dim OpenSignal As Integer = 400013 (4 axis) or 600013 (6 axis)
Const Dim CloseSignal As Integer = 400014 (4 axis) or 600014 (6 axis)
Public Sub SchunkOpen
Move.WaitForEOM()
Signal.DIO(CloseSignal) = False
Thread.Sleep(80)
Signal.DIO(OpenSignal) = True
Thread.Sleep(500)
End Sub
Public Sub SchunkClose
Move.WaitForEOM()
Signal.DIO(OpenSignal) = False
Thread.Sleep(80)
Signal.DIO(CloseSignal) = True
Thread.Sleep(500)
End Sub
Public Sub SchunkReset
Signal.DIO(OpenSignal) = True
Thread.Sleep(80)
Signal.DIO(CloseSignal) = True
Thread.Sleep(2000)
Signal.DIO(OpenSignal) = False
Thread.Sleep(80)