Functional description
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01.00 | Electric gripper EGP with safety functions | System description | en | 1381596
4.5 Program sequence
The following diagram shows a model of the behavior of the ap-
plication software as a state machine. This is divided into three
levels. The levels are divided up based on the state behaviors.
Start
Enable low
Confirm button low
Enable high
(Confirm button high
Reset confirm button
edge high)
Release mode
Emergency stop
Maintenance mode
Error
Emergency stop high
Undefined
gripper sensor
Undefined
gripper sensor
Reset edge high
Emergency stop high
Confirm button low
Confirm button high
Reset confirm button high
(Emergency stop low,
Enable edge high,
Reset edge high)
(Confirm button high,
Reset confirm button
edge high)
Diagram of state machine
Each state transition is represented by an arrow in the direction of
the new state. If the transition condition is true, the state trans-
ition occurs.
The application software has three basic behaviors:
•
Release mode
– Unchecked transmission of all signals from the gripper to the
higher-level control and vice versa.
– Only in release mode can the gripper be opened or closed.
•
Maintenance mode and emergency stop
– Transfer the system to the safe state 1. The target values of
the superordinate control system are frozen and the gripper
position is maintained.
•
Error
– Transfer the system to the safe state 2 by disconnecting
power from the gripper. The target values of the superordin-
ate control system are frozen. Setting the error output.
