Rethink Robotics Sawyer, Original Instructions Manual, Page: 71 / 220

64
Intera 5.3
End of Arm Tooling
For vacuum grippers:
•
The Vacuum On signal needs to be inverted so that when the pneumatic valve is
powered off, the vacuum generator is still on to keep the part in hand instead of
dropping it accidentally.
•
The gripper should not be actuated (air turned on) when it is first plugged into a
robot, so the default value of Vacuum On is set to true, which becomes false after
inversion.
•
When the valve is powered on (indicated by the orange light on it), vacuum
should be off. When the valve is powered off (no light), vacuum should be on.
•
Adjust the vacuum threshold value so that when the gripper picks up an object of
interest, the sensor value in Shared Data exceeds this threshold.
•
When using the Vacuum Small Gripper, both Port A and Port B should have the
same signal settings.
Setup Notes
Please follow the instructions below to set up your ClickSmart gripper in Intera Studio:
•
Set up Gripper Name.
•
Set up mass and center of mass.
•
Set up TCP.
•
Select Gripper Type.
•
Test Grip, Open and Closed signals. Invert signals and adjust sensor positions if
necessary.
•
Save your settings and exit.
I/O Signal
Default
Value
Invert
Signal
Outputs Power True Off
Outputs
Vacuum
On
True On
Inputs
Vacuum
Sensor
Sensor
Voltage =
5V
N/A
Inputs
Vacuum
Threshold
50 N/A