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6.3.6 Asignación de IO en dos garras conectadas
Asignación de IO en dos garras conectadas: mín. 1 garra Schmalz
Puerto 1
Garra Schmalz
Puerto 2
Advanced Gripping
PIN Input
1
2
3
4
5
6
7
Cmd_Release
8
Cmd-Grasp
9
Cmd_Reset
10
Cmd_Motor_ON/Mo-
11
Cmd_Homing
12
PIN Output
1
2
3
4
5
6
7
Homing OK
8
9
10
11
undefined Position
12
ES · 30.30.01.02782 · 00 · 07/21
Error Or Warning/Errror
Error Or Warning/Errror
tor_OFF
—
signal h3 (part detached)
signal h2 (part present)
Motor ON
isReleased
signal h3 (part detached)
isGrasped
signal h2 (part present)
isClosed
Error
Garra Schmalz
Garra Schmalz
drop-off
vacuum
Freedrive enable
—
—
drop-off
vacuum
Freedrive enable
—
—
Freedrive desired
isReady
Error
Freedrive desired
isReady
Error
Garra Schmalz
Basic Gripping
Cmd_Release
Cmd-Grasp
Cmd_Reset
—
—
—
—
—
isReleased
isGrasped
isClosed
undefined Position
Error
Instalación
X4
X5
X6
X7
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