PT GRIPPER


PT GRIPPER

Table 1.  PT Gripper Main Menu Items

ITEM DESCRIPTION

Gripper

This column contains the names of all the defined grippers. Even if a gripper is not defined yet, the user can press MODIFY to setup its properties. The default number of grippers that a user can modify is 4.


Table 2.  PT Gripper MODIFY Items

ITEM DESCRIPTION

Name

This is a 21 character name.

A unique name for the gripper. Ex: Gripper 1.

Pick Delay

Range: 0.0 to 99999.0

Enter the gripper delay in seconds to be used while picking up a part.

Drop Delay

Range: 0.0 to 99999.0

Enter the place delay in seconds to be used while dropping the parts.

# of Zones

Range: 1 to 20

Enter the number of Zones in the PT Gripper.

# of Act I/O per Zone

Range: 1 to 4

Enter the number of Activation Outputs per Zone in the PT Gripper.

# of PP I/O per Zone

Range: 1 to 4

Enter the number of Part Presence Inputs per Zone in the PT Gripper.

Utool setup

When on this item, pressing DETAIL will allow you to setup the UTOOL for each zone of the gripper.

Gripper Activation I/O

When on this item, pressing DETAIL will allow you to setup the gripper activation I/O for each zone.

Part Presence I/O

When on this item, pressing DETAIL will allow you to setup the Part presence I/O for each zone.


Table 3. PT Gripper UTOOL, Activation and Part Presence Items

ITEM

DESCRIPTION

Gripper UTOOL

Each row contains the Utool for a zone. You might not know the UTOOL of each zone. In order to determine the proper value of the Zone UTOOL, you need to teach the UTOOL with the robot from the Menus -> Setup -> Frames menu. After you complete teaching the UTOOL, come back to this menu and enter the values of the UTOOL for the zone. The UTOOL values can only be entered on the Configuration Teach Pendant. Therefore, when you teach UTOOLs with grippers / zones on other robots, you still need to come back to this menu to enter the values of that UTOOL.

Gripper Activation I/O

In each row, enter the I/O output for a zone. Up to 4 rows can be used to enter the I/O output for a zone, if more than one output is used for a zone. The value of the output can be ON, OFF or PULSE. If PULSE, is specified as the value of an output, then specify the duration of the pulse output in seconds.

Part Presence I/O

In each row, enter the input I/O for part presence for a zone. Up to 4 rows can be used to enter the I/O input for a zone, if more than one input is used for a zone. The value of the I/O input can be ON or OFF.