AirPick - Instruction Manual
Warning
Setting the pressure tolerance too low might wear the product prematurely resulting in a shorter lifespan than expected.
The warranty of the product is defined as the number of grip/release valve cycles and not in terms of object grip/release
cycles.
4.4. Robot input registers & status
Register: GRIPPER STATUS
Address: Byte 0
Bits
7
6
5
4
3
2
1
0
Symbols
gOBJ
gSTA
gGTO
gMOD
gACT
gACT (Activate echo)
The gACT bit is the echo of the rACT bit in the ACTION REQUEST register.
gMOD (Gripper mode echo)
The gMOD bits are the echo of the rMOD bits in the ACTION REQUEST register.
gGTO (Regulate echo)
The gGTO bit is the echo of the rGTO bit in the ACTION REQUEST register. Valid only if the vacuum/pressure is regulated,
otherwise it returns 0x0.
gSTA (Activation status)
The rSTA bits indicates the status of the gripper activation sequence.
l
0b00 - Gripper is not activated.
l
0b11 - Gripper is operational.
gOBJ (Object status)
The gOBJ bits indicates the status of the object detection.
l
0b00 - Unknown object detection. Regulating towards requested vacuum/pressure.
l
0b01 - Object detected. Minimum vacuum value reached.
l
0b10 - Object detected. Maximum vacuum value reached.
l
0b11 - No object detected. Object loss, dropped or gripping timeout reached.
40
Summary of Contents for AirPick
Page 25: ...Fig 3 7 Mounting air nodes suction cups air bolts air nuts on the bracket 25...
Page 27: ...Fig 3 9 Robotiq Vacuum Gripper with pigtail cable and device cable wiring scheme 27...
Page 35: ...Fig 4 1 Vacuum Gripper control logic overview 35...
Page 57: ...7 Click on the New Project icon in the upper left corner of the screen 57...
Page 58: ...AirPick Instruction Manual 8 Enter a name for your program and click on the OK button 9 58...
Page 76: ...Fig 6 5 Minimum and maximum arrangement possibilities of the air nodes position 76...
Page 77: ...AirPick Instruction Manual 6 1 3 Air nodes Fig 6 6 Air nodes dimensions 77...
Page 103: ...AirPick Instruction Manual 12 Appendix Fig 12 1 Pneumatic schema of the AirPick Vacuum Gripper...
