21
Component CLOSE node
This component is used to close the gripper.
It can be used to grip a part with an outside grip or to release a part after an inside grip.
-
Success :
The gripper completes to close (When Close_and_CheckSignal is set to false),
or auto switch signal at close side is ON meaning a part is detected with an
outside grip (Close_and_CheckSignal is set to true).
-
Fail :
Auto switch signal at close side is not ON meaning a part is not detected with an
outside grip (When Close_and_CheckSignal is set to true).
-
Wrong_value :
Set value of WaitTime_Setting or TimeoutVal_Setting is out of range.
Function
Type Default
Description
Close_and_CheckSignal bool
false
CheckSignal function enable/disable setting
When set to true, after closing the gripper auto switch
signal is monitored and move to the next operation if the
signal is ON.
When set to false, after closing 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 closing gripper is
energized.
Set an appropriate value according to the closing 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
