[Description 1] It is necessary that the timing of opening the input signal START is to be
the time of opening the input signal IN afterward.
[Description 2] It is necessary that the timing of ending the input signal START is to be the
time of opening the output signal BUSY afterward, and recommended to be
pending over 10ms after opening the output signal START.
[Description 3] After ending the output signal BUSY, it indicates that the motion is ended
and the output signal HOLD is also opened indicating that the gripping
motion is completed. If the output signal HOLD is not opened, it indicates
that the gripped motion is not completed.
[Description 4] If workpiece recognition and size detection are performed, after opening
the output signal HOLD, output signal CHECK will also be opened. Please
follow the output signal CHK-CODE to perform workpiece recognition and
size detection.
3.9.4 I/O signal setting of workpiece recognition or size detection
•
Motion description: Using the specified gripping speed and gripping force to
grip the workpiece from the initial gripping position until the workpiece is
gripped or the end of gripping position is reached.
IN
START
BUSY
HOLD
CHECK
ALARM
輸出訊號
0 mm/s
輸入訊號
運動模式
SPEED
10ms
以上
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Operation
Input
signal
Output
signal
or more
C02UE03-2007
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