OnRobot Gecko Gripper, Оригинальное руководство пользователя, Страница: 74 / 198

Operation
74
Digital outputs (DO1-DO8) can have the following three states: (click to cycle through the states)
•
- Don’t change
•
- set the Output bit to logic low
•
- set the Output bit to logic high
List of Device specific values
Gecko .............................................. 74
HEX-E/H QC ..................................... 75
RG2/6.............................................. 75
RG2-FT ............................................ 76
VG10 / VGC10.................................. 76
NOTE:
Each device has an OnStart condition that becomes True only once the
device is connected or the program is started and then becomes
immediately False. This can be used to detect if a device is connected or
set any initial value on program start.
Gecko
Conditions Description
Preload Actual force applied to the pads [N] (below 50N it reads 0N)
Ultrasonic Actual distance measured from the bottom of the gripper to the object.[mm]
Pad position Actual position of the pads either In or Out
Pads worn
If a Grip was detected and then object distance becomes more than 18mm
(without the pads being pulled IN) the object is lost so the Pads are
Bad
otherwise reads Good .
Busy Pads are in motion
Grip
While the pads are OUT if the Preload force is reached and the object distance
is less than 18mm, then Grip becomes TRUE otherwise FALSE . (resets to FALSE
by pulling the pads IN)
Commands Description
Pad position To pull the pads In or push the pads Out
Preload threshold
To set the preload force limit that is used to detect a successful Grip .
Available options are: 50N, 90N, 120N
Reset error logs Clears the errors (e.g.: Pads worn)