Operation
30
NOTE:
To make a program run automatically when the Compute Box is powered
on just leave the program running while you power the Compute Box off.
To start a new program click on the
New
button.
•
To add a new row click on the
Add new conditions and commands
.
•
To delete a row click on the
icon.
•
To move the row up or down click on the
icons.
NOTE:
Conditions and commands are executed from the top to the bottom.
Same commands at the bottom can override the ones at the top.
•
To duplicate a row click on the
icon.
•
To disable a row (not to be executed) uncheck the checkbox
next to the row number.
The rows must have at least one condition and at least one command to be executed.
Conditions
Conditions are the input fields marked by blue.
There are two types of conditions:
•
Digital Input type - like DI4=1
•
Device specific value type - like HEX Fx > 10N
These types of conditions can be combined with AND or OR logic to form a more complex condition:
If
( DI4=1 )
OR
(HEX Fx > 10 N
AND
HEX Fx < 20N )
Condition is true if Fx is between 10N and 20N or robot has signaled high in Digital Input 4.
Digital inputs (DI1-DI8) can have the following three states: (click to cycle through the states)
•
-
Don’t care (this bit is masked and will give true result for the bit)
•
- give logic true if Input bit is low
•
-give logic true if Input bit is high
Summary of Contents for DOOSAN Gecko Gripper
Page 1: ...USER MANUAL FOR DOOSAN ROBOTS ORIGINAL INSTRUCTION EN v1 02...
Page 79: ...Hardware Specification 79 RG2 Gripping Speed Graph RG2 Work Range...
Page 82: ...Hardware Specification 82 RG6 Gripping Speed Graph RG6 Work Range...
Page 93: ...Hardware Specification 93 RG2 FT All dimensions are in mm and inches...
Page 94: ...Hardware Specification 94 RG2 All dimensions are in mm and inches...
Page 95: ...Hardware Specification 95 RG6 All dimensions are in mm and inches...
Page 96: ...Hardware Specification 96 VG10 All dimensions are in mm and inches...
Page 97: ...Hardware Specification 97 All dimensions are in mm and inches...
Page 98: ...Hardware Specification 98 Quick Changer Tool side All dimensions are in mm and inches...
Page 104: ...Certifications 104 10 Certifications...
Page 105: ...Certifications 105...
