Digital I/O Device Gripper - Setup¶
The Digital I/O Device Gripper component generically supports most common types of I/O grippers. The gripper controlling wires are connected directly to the robot controllers digital I/O pins. These I/O pins are then actuated or read by the Digital I/O Device Gripper component.
Info
The older Digital I/O Gripper component can be used in the same way as the Digital I/O Device Gripper component. The components differ just in definition of the I/O pins. Here the Digital I/O Gripper uses an older version of defining the digital I/O pins.
Setup¶
Connect the gripper¶
Connect your I/O grippers wires to free digital I/Os of your robot controller. Supported are the following functionalities for pins:
- Control (Gripper Inputs / Robot Controller Outputs): Open, Close; High signals trigger the respective action.
- Feedback (Gripper Inputs / Robot Controller Inputs): Gripped, Not Gripped, Opened, Closed; High signals indicate the respective state.
Configure the component¶
Configure the Digital I/O Device Gripper component in the Component Manager. The definition of pins follows the syntax device.group[pin_number], where device is usually robot and the values at group and pin_number depend on the available I/Os of the respective device (see also the Function Block Library). An example is robot.DO[1]. The following parameters are available:
- Gripper ID: The unique gripper ID for this gripper device. It is necessary to identify the gripper among several others. The ID is allowed to contain only letters, digits and underscores.
- Digital Output - Close: The digital output pin to close the gripper. A value of
robot.DO[x]deactivates this pin and uses just the parameter Digital Output - Open to control the gripper. In this case setting the pin opens the gripper, while deactivating the pin closes the gripper. At least one of the two digital outputs has to be defined or an ERROR_NO_PIN_DEFINED exception is thrown. - Digital Output - Open: The digital output pin to open the gripper. A value of
robot.DO[x]deactivates this pin and uses just the parameter Digital Output - Close to control the gripper. In this case setting the pin closes the gripper, while deactivating the pin opens the gripper. At least one of the two digital outputs has to be defined or an ERROR_NO_PIN_DEFINED exception is thrown. - Digital Input - Gripped: The digital input pin to inform, whether a part was gripped. A value of
robot.DI[x]deactivates this option. If the parameter Digital Input - No Part Gripped is also defined, both inputs are combined for part detection (gripped = pin_gripped AND NOT pin_not_gripped). - Digital Input - Not Gripped: The digital input pin to inform, whether no part was gripped. A value of
robot.DI[x]deactivates this option and returns always false at the respective function blocks. If the parameter Digital Input - Part Gripped is also defined, both inputs are combined for part detection (gripped = pin_gripped AND NOT pin_not_gripped). - Digital Input - Opened: The digital input pin to detect, if the gripper is opened. A value of
robot.DI[x]deactivates this option. - Digital Input - Closed: The digital input pin to detect, if the gripper is closed. A value of
robot.DI[x]deactivates this option. - Waiting Time: Waiting in seconds after each command before continuing with the program to be sure the respective gripper action is done.
- Timeout: Timeout in seconds for waiting commands before returning a timeout error. A value of 0 waits infinitely.
Deprecated
For the older Digital I/O Gripper component the old pin numbering of digital I/O pins has to be entered to the parameters. Values of -1 deactivate the respective option. However, the Digital I/O Gripper is deprecated and should not be used any longer.
Example: Zimmer GEP/GED5000 Series¶
In the following an example for the Zimmer GEP/GED5000 Gripper Series is shown for inward gripping (gripping a part from the outside; NC gripper mode). It is based on the respective manual.
| Pin | Color | Function | Zimmer Explanation | drag&bot Component Parameter |
|---|---|---|---|---|
| 1 | White | Direction | INPUT, open/close gripper control input, 24 V DC | Digital Output - Open |
| 2 | Brown | Work Position | OUTPUT, gripper in work position message | Digital Input - Closed |
| 3 | Green | Error | OUTPUT, error message | - |
| 4 | Yellow | Teach Position | OUTPUT, gripper in programming position message | Digital Input - Gripped |
| 5 | Gray | Base Position | OUTPUT, gripper in base position message | Digital Input - Opened |
| 6 | Pink | +24 VDC | +24 V DC/5A voltage supply | - |
| 7 | Blue | Teach / Adjust | INPUT, control input, program/adjust workpiece | - |
| 8 | Red | GND | Voltage supply 0V DC | - |