rACT (Activate)
The rACT bit allows the Gripper to be operational.
l
0b0 - Clear Gripper fault status.
l
0b1 - Gripper is operational. Must stay 0x01 at all time during normal operation of the gripper.
rMOD Gripper mode
The rMOD bits are used to select the gripping mode.
l
0b00 - Automatic mode. The gripper will automatically detect the proper vacuum level, timeout/delay and hysteresis.
l
0b01 - Advanced mode. The user can set the desired minimum and maximum vacuum level and the time-out.
l
0b10 - Reserved
l
0b11 - Reserved
rGTO (Regulate)
The rGTO bit allow gripper to follow the desired vacuum parameters.
l
0b0 - Stop the vacuum generator; valves are in position to hold the workpiece.
l
0b1 - Follow the requested vacuum parameters in real time. When timeout is reached, rGTO must be re-asserted (Set to 0b0
then to 0b1)
rATR (Automatic release)
The rATR bit is used to release the object to ambient pressure (if possible) without any timeout. The rATR bit overrides all other
commands excluding the activation bit (rACT). rACT must be at 0b1 during this action.
l
0b0 - Normal operation
l
0b1 - Open the valves without any timeout. After an automatic release, rACT must be re-asserted (rACT=0b0 then rACT=0b1).
Register: RESERVED
Address: Byte 1
Bits
7
6
5
4
3
2
1
0
Symbols
Reserved
Register: RESERVED
Address: Byte 2
Bits
7
6
5
4
3
2
1
0
Symbols
Reserved
37
Summary of Contents for AirPick
Page 25: ...Fig 3 7 Mounting air nodes suction cups air bolts air nuts on the bracket 25...
Page 27: ...Fig 3 9 Robotiq Vacuum Gripper with pigtail cable and device cable wiring scheme 27...
Page 35: ...Fig 4 1 Vacuum Gripper control logic overview 35...
Page 57: ...7 Click on the New Project icon in the upper left corner of the screen 57...
Page 58: ...AirPick Instruction Manual 8 Enter a name for your program and click on the OK button 9 58...
Page 76: ...Fig 6 5 Minimum and maximum arrangement possibilities of the air nodes position 76...
Page 77: ...AirPick Instruction Manual 6 1 3 Air nodes Fig 6 6 Air nodes dimensions 77...
Page 103: ...AirPick Instruction Manual 12 Appendix Fig 12 1 Pneumatic schema of the AirPick Vacuum Gripper...
