I have 200ic, and I mount pneumatic gripper and connected the air from the arm of the robot to gripper.
How to define open and close macro
which RI/O i need to use for those air outlet
Thanks
TP program for open/close gripper
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dzrobot -
April 7, 2016 at 5:37 AM -
Thread is marked as Resolved.
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You can use the End Effector conector wich is mounted on the j2 or j3 axis. You can search for wiring connections in the manuals.
(Somebody correct me if I m wrong)Sent from my HTC Desire 510 using Tapatalk
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in the setting there is a micro definition.
its so easy, there is some empty button on the TP.
you can select on of them for open grip and another one for close.
you have to have a program (subroutine) for grip open and grip close.
then you can define it, if i push this button (one of that empty button) go and execute this subroutine. -
Not sure if this idea might help you but a simple solution (I use this with one of my robots) is to feed a solenoid(s) valve with the air, and manipulate which one is open/closed with I/O from robot or plc. for just a simple gripper you would just have 2 valves.
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Your LRMate has built in solenoid valves that you can use to open and close your gripper.
Toggling Robot Outputs:
-Menu-5-TYPE-ROBOT-OUPUTS-Toggle them one at a time to find out which Output number did you use for your gripper
Macro Programs:
-Write two simple programs (MACRO) that toggle those outputs, one for closing the gripper and one for opening the gripper(you can always use complimentary)
Assign the macro:
-MENU-6-F1-MACRO-
-Select the previously created macroes under the program column by pressing Choice
-Under Assign column Select UK , and pick a number :
(1) is the key under the Enter key
(2)is The key right under UK1 and so forth........Form now on just press UK1 or UK2 and the gripper will toggle open/close
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Some how RO[3] = ON and couldn't turn it to OFF, it will go back to ON momentary
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Outputs can be driven by multiple scenarios.
That output it might be staying on due to the following scenarios:
-Complimentary enabled with RO#4
-PMC has been programmed to drive ON
-Reference Position has been enabled and program to drive RO3 and you are not at Ref Pos.
-IO assignment is overlapping with another signalThere is multiple methods to drive an output.
I believe RO3 is being driven by one of the previously mentioned items