PreCise PF3400, Hardware Reference Manual

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PreciseFlex_Robot
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While some grippers for OEM customers differ slightly from the following, in general for the pneumatic
gripper controller digital output 1 will open the gripper. Controller digital input 1 goes high when the
gripper is open and input 2 goes high when the gripper is closed. (See the section on controller digital
input and output signals for the software assignments of these signals.)
For vacuum grippers, digital output 1 turns on vacuum and digital output 2 turns on blowoff air. Digital
input 4 goes high when vacuum is present.
G1400B Dedicated Digital Outputs
The G1400B adds one dedicated digital output to the standard dedicated signals found in the Guidance
Controller, as shown in the table below.
Users normally do not need to modify the setting of the status lamp (IO 20) since the standard robot
software typically manages this signal. However, if desired this signal can be manually altered under
program control via the GPL SIGNAL.DIO instruction. This is controlled by DOUT signal 20. If direct
control of this signal is desired, DataID 235 should be set to 0 and signal number 20 should be controlled
by program control.
Signal Number I/O Label Description
20 O
Outer Link status lamp. Set to 1 to turn on
the lamp. Normally parameter “Power State
DOUT” (DataID 235) is set to this signal
number so that the Outer Link lamp
displays the robot power state.