AirPick - Instruction Manual
Settings
Variable
Type
Default
Description
Grip_Settings
var_grip_
advanced_
mode
bool
False
Set to true to use the Advanced mode of the gripper
var_grip_
max_vacuum
byte
60
20~100 which represents the vacuum percentage
var_grip_
min_vacuum
byte
40
10~max which represents the vacuum percentage
var_grip_
timeout
int
3000
Time in millisecond (ms) until no part is detected
var_grip_
wait_for_
oject_
detected
bool
True
When set to true, the program will wait for an object detection
before exiting the component
Release_
Settings
var_release_
advanced_
mode
bool
False
Set to true to use the Advanced mode of the gripper
var_release_
shutoff_time
int
1000
AirPick Time during which the gripper pushes air to release
the part
var_release_
wait_for_
object_
released
bool
True
When set to true, the program will wait for an object detection
before exiting the component
var_slave_id
int
9
The slave ID of the gripper used for modbus communication
var_com_
port
byte
1
The number of the COM port on which the gripper is connected
Table 4-3: SET Component Variables
Advanced Mode
The Advanced mode is set to false by default, which means that the vacuum values and the timers are set automatically. When the
Advanced mode is set to true, the gripper will use the vacuum level parameters and the timer set by the user to grip and release.
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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...