Initial operation
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4
Initial operation
4.1
Robot settings for UR e-series
Some settings have to be made to be able to operate the gripper as intended. First of all, the
supply voltage at the tool I/O must be activated and set to 24 V. Then the digital tool outputs
must be set to
Push/Pull
mode. The analog inputs must be configured as such and not as
"Communication Interface".
The gripper can also be operated with a supply voltage of 12 V DC. If this is the case,
different operating modes for the LEDs are
not possible but they remain in the “blue
sinus a
xial” mode.
4.2
Operating modes
The robobrain.LEDgripper has four different operating modes. These can be activated by
switching the digital tool outputs according to table 3.
Table 2: Truth table for operating modes
Digital Output 0
0
1
Digital Output 1
0
Blue sinus axial
Green sinus axial
1
Static red
Party mode
4.3
Reading out the vacuum sensor
If the robot is configured as described in 4.1, the value of the vacuum sensor can be read at
the analog input 2 of the tool I/O. The voltage range is between 1 and 5 V DC, depending
on the vacuum applied.
