ROBOTIQ AirPick, Оригинальное уведомление

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AirPick - Instruction Manual
4. Software
Info
Unless specified, all units in this section are in hexadecimal values.
Caution
Installation of the new firmware version is mandatory to have the new Object Detection feature and all the updates.
4.1. Overview
Info
The operator can:
l
Control the vacuum level (continuous vacuum when manual mode is set at 100%)
l
Set the minimum vacuum level
l
The automatic mode operation is set by default. The continuous operation mode can also be choose, when checked in
the Advanced settings.
l
Benefit from a security mode if air leakage is detected
l
Benefit from energy saving with the automatic mode.
l
Apply a timeout manually (ms) or benefit from an automatic timeout delay
4.1.1. Control using registers
The Vacuum Gripper has an internal memory that is shared with the robot controller. One part of the memory is for robot output
(Gripper functionalities). The other part of the memory is for robot input (Gripper status). Two types of actions can thus be
performed by the robot controller:
1. Write in the robot output registers to activate functionalities;
2. Read in the robot input registers to get the status of the Gripper.
The Vacuum Gripper register mapping section will map the different registers used to control the Gripper or to read its status. The
Robot output registers & functionalities section will detail the output (write) register functions. The Robot input registers & status
section will detail the input (read) register status. The figure below is a representation of the memory and the control logic of the
Gripper.
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