6
Requirement for Qint1 HIGH:
→
v =0
→
within the tolerance
7
Position
8
Direction of magnet movement
3.3.6
Switching behavior after Dynamic Teach of 3 switching points
If the sensor, during Dynamic Teach, detects teach 3 x piston status v = 0, 3 switching
points are set.
Example: Arrangement of switching points for dynamic teach-in of 3 switching points
on a pneumatic internal or external gripper
The switching points are assigned as follows:
Qint1 = idle
Qint2 = object
Qint3 = noobject
That is why the arrangement depends on whether an internal or external gripper is
used.
1. External gripper:
Table 3: External gripper
Gripper open
without object
idle
Gripper closed
with object
object
Gripper open
without object
idle
Gripper closed
without object
noobject
Gripper open
without object
idle
v = 0
v = 0
1. Stop
v = 0
1. Stop
2. Stop
v = 0
1. Stop
2. Stop
3. Stop
v = 0
Qint 2
Qint 1
Qint 3
No switching
point is defined
on the output
position of the
magnet
First position is
defined for
switching point
Second position
is defined for
switching point
Third position is
defined for
switching point
Switching points
are assigned to
the positions
After the teach-in process, the Qints are assigned as follows:
•
Qint1 gripper open without object (idle)
•
Qint2 gripper closed with object (object)
•
Qint3 gripper closed without object (noobject)
1. Internal gripper:
Table 4: Internal gripper
Gripper open with
object
Gripper closed
without object
idle
Gripper open
without object
noobject
Gripper closed
without object
idle
Gripper open with
object
object
PRODUCT DESCRIPTION
3
8025942/2020-07-16 | SICK
O P E R A T I N G I N S T R U C T I O N S | MPS-G with 2 / 3 switching points and IO-Link (up to 16 switching points)
15
Subject to change without notice
