igus Drylin Delta, Руководство пользователя

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8.6. Gripper and Digital IO
8.6.1. Digital Inputs
Digital inputs and global signals are accessible as reserved words in conditional statements
as expressions in Section 4.1. For global signals these are GSig1, GSig2, … , for digital inputs
these are Din1, Din2, … . Depending on the state they will either evaluate to “True” or to
“False”.
8.6.2. Digital Outputs
The Digital Output command can be used to set the states of digital outputs and global
signals.
Under “Channel type” it is possible to specify if a digital output or a global signal are to be set.
“Channel ID” specifies the channel of the digital output or global signal. Under “State” the
desired state after execution of the command is specified. The command is accessible in
iRC’s Program Editor by the menu entry “Action”->”Digital output”.
8.6.3. Opening/Closing the Gripper
The Gripper command allows to control the gripper of the robot. It is accessible in iRC’s
Program Editor by the menu entry “Action”->”Gripper”.