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Axis 5 is reserved by default controller configuration for a servo gripper. To
connect a different device as axis 5, you must change the system configuration by
means of the ACL command CONFIG.
Activating the Gripper
1.
Activate ATS. Press <Ctrl>+F3 to activate the Peripheral Setup screen.
2.
Change the robot gripper definition according to the gripper you have installed.
Refer to the section, “ Peripheral Devices and Equipment--Robot Gripper,” in
Chapter 2 of the
ACL
Controller-B User’s Manual.
3.
Open and close it in order to verify that it is functioning. The following
commands work for both the electric and the pneumatic gripper.
PC
Type:
open <Enter>
The gripper opens.
Type:
close <Enter>
The gripper closes.
TP
Key in:
Open/Close
The Open/Close key toggles the gripper between its open and closed states.
programs you have just written.
Figure 4-11: Connecting Gripper to SCORA-ER 14
SCORA-ER 14
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User’s Manual
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