R12 Robot Manual
page
16
Tool changer or multiple tools
Note that an electric gripper uses PA 0 and1 in PWM mode to open the gripper.
To change between electric gripper and pneumatic gripper:
Enter
1 GTYPE !
for electric gripper
0 GTYPE !
for pneumatic gripper
If the vacuum is connected to some other bit, not PA 0 enter the bit number for GTYPE
For example 4 GTYPE ! if the valve is connected to PA 4.
If you have both electric gripper and vacuum then the vacuum valve should normally be on
PA 2 not 0. GRIP and UNGRIP then operate the valve labeled in the above picture as V2
If you have a tool changer please see the separate R12 tool changer guide.
