ROBOTIQ AirPick, Оригинальное уведомление

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AirPick - Instruction Manual
Register: MAXIMUM VACUUM/PRESSURE REQUEST
Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbols rPR
rPR ( Maximum Vacuum/Pressure request)
This register is used in manual mode (rMOD=0x01) to set the target vacuum or pressure. It is used in automatic mode
(rMOD=0x00) to give the grip and release command. In the Automatic mode, the target vacuum levels are automatically set.
rPR = 100 + Pmax
Where:
Pmax is the target maximum differential pressure relative to ambient in KPa.
l
0x00 (0d0) - Continuous grip. Vacuum generator always ON.
l
0x16 (0d22) - Grip to 78% of vacuum (Maximum device vacuum).
l
0x5A (0d90) - Grip to 10% of vacuum (Minimum device vacuum).
Automatic mode:
l
<0x64 (0d100) - Send a grip command
l
≥0x64 (0d100) - Send a release command
Example:
For a grip with 78% of vacuum level, use Pmax = -78 kPa in the formula.
For a release with 155 kPa of positive air, use Pmax = 155 kPa in the formula.
Register: GRIP TIMEOUT / RELEASE TIME
Address: Byte 4
Bits 7 6 5 4 3 2 1 0
Symbols rSP
rSP (Action timeout)
When gripping (rPR <= 0d99), this register is used to set the time window (each integer being 100 milliseconds) prior to a gripping
error. The vacuum generator will stop after the timeout period. Only valid if rMOD=0x01.
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