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No. TQ1230001-OM104-C
3. Basic Settings Tab
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To change the setting, set the security access level to the administrative level.
(1) Output status signal to digital output port
Selects whether to output a status signal to the digital output port when "Success" or "Failure" of
gripping is detected.
When selected: Enabled
When the digital output port selection operation is enabled and either " gripping success" or "
gripping failure" is detected, the corresponding digital output port is turned on.
When disabled selected:
When the digital output port selection operation is disabled, no status signal is output even if
either " gripping success" or " gripping failure" is detected.
(2) Select digital output port
When "Output status signal to digital output port" is enabled, the operation of the select box
becomes effective. Select the digital output port to output a status signal when "Success" or
"Failure" of gripping is detected.
4. I/O Settings Tab
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To change the setting, set the security access level to the administrative level.
(1) I/O configuration for gripper operation
The I/O assignments are already set when the YASKAWA plug & play kit is installed, so as long
as the wiring is done according to the manual, it can basically be used as is.
However, if the wiring is changed to connect with other devices, the signal settings for gripper
operation can be changed from this tab.
If you wish to return the I/O settings to the same state as they were at the time of shipment, you
can initialize them by pressing the button at the bottom of the screen.
(2) Set tool number
The collaborative robot calculates the external force by canceling the mass of the tool. Therefore,
it is necessary to set the mass and center of gravity position of the tool or workpiece to be attached
to the manipulator in the tool file.
By default, tool number 0 is selected when the grip button is pressed, and tool number 1 is
selected when the release button is pressed. The tool number can be changed.