20
Use TMComponent
Component OPEN node
This component is used to open the gripper.
It can be used to release a part after an outside grip or to grip a part with an inside grip.
-
Success :
The gripper completes to open (When Open_and_CheckSignal is set to false),
or auto switch signal at open side is ON meaning a part is detected with an
inside grip (Open_and_CheckSignal is set to true).
-
Fail :
Auto switch signal at open side is not ON meaning a part is not detected with an
inside grip (When Open_and_CheckSignal is set to true).
-
Wrong_value :
Set value of WaitTime_Setting or TimeoutVal_Setting is out of range.
Function
Type Default
Description
Open_and_CheckSignal bool
false
CheckSignal function enable/disable setting
When set to true, after opening the gripper auto switch
signal is monitored and move to the next operation if the
signal is ON.
When set to false, after opening the gripper move to the
next operation. Auto switch signal is not monitored in this
case.
WaitTime_Setting
int
500
WaitTime setting after valve operation
(Unit: ms, Range: 0..1000ms)
It is a wait time value after the valve for opening gripper
is energized.
Set an appropriate value according to the opening speed
of the gripper by adjusting the opening of the metering
valve.
TimeOutVal_Setting
int
500
Timeout setting of checking the auto switch signal
(Unit: ms, Range: 0..1000ms)
Note) It will only be appeared when the Advanced setting
is checked