Digital I/O Device Gripper - Usage¶
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.
Usage¶
To use the Digital I/O Gripper component the following function blocks are provided. Each function block takes the Gripper ID as input parameter. This has to be the same as defined in the Component Manager.
I/O Gripper - Open¶
Opens the respective I/O gripper.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Gripper ID | String | The id defined in the Component Manager for the gripper. |
| Acknowledgement Mode | Select | Selects the mode of acknowledgement, which is used after the output is set. Available options are: No Acknowledgement, Await Opened, Await Opened or Gripped, Await Opened or Released. The I/O pins of the respective functionalities have to be defined in the Component Manager. Otherwise an ERROR_NO_PIN_DEFINED exception is raised. | |
| Detect Part | Boolean | If set to True a NO_WORKPIECE exception is thrown when no part was detected after opening the gripper. If set, it requires the Digital Input - Gripped or Digital Input - Not Gripped pin to be defined or an ERROR_NO_PIN_DEFINED exception is thrown. | |
| Outputs | - |
I/O Gripper - Close¶
Closes the respective I/O gripper.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Gripper ID | String | The id defined in the Component Manager for the gripper. |
| Acknowledgement Mode | Select | Selects the mode of acknowledgement, which is used after the output is set. Available options are: No Acknowledgement, Await Closed, Await Closed or Gripped, Await Closed or Released. The I/O pins of the respective functionalities have to be defined in the Component Manager. Otherwise an ERROR_NO_PIN_DEFINED exception is raised. | |
| Detect Part | Boolean | If set to True a NO_WORKPIECE exception is thrown when no part was detected after closing the gripper. If set, it requires the Digital Input - Gripped or Digital Input - Not Gripped pin to be defined or an ERROR_NO_PIN_DEFINED exception is thrown. | |
| Outputs | - |
I/O Gripper - Control¶
Closes or opens the respective I/O gripper.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Gripper ID | String | The id defined in the Component Manager for the gripper. |
| Close Gripper | Boolean | True closes the gripper, false opens the gripper. | |
| Detect Part | Boolean | If set to True a NO_WORKPIECE exception is thrown when no part was detected after opening / closing the gripper. If set, it requires the Digital Input - Gripped or Digital Input - Not Gripped pin to be defined or an ERROR_NO_PIN_DEFINED exception is thrown. | |
| Outputs | - |
I/O Gripper - Off¶
Sets the defined control pins for Digital Output - Open and Digital Output - Close to low.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Gripper ID | String | The id defined in the Component Manager for the gripper. |
| Outputs | - |
I/O Gripper - Check Gripped¶
Checks the defined control pins for Digital Output - Gripped and Digital Output - Not Gripped.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Gripper ID | String | The id defined in the Component Manager for the gripper. |
| Outputs | Part Detected | Boolean | True, if the gripper detected a part (the respective digital input(s) are set). False otherwise. If neither Digital Input - Gripped nor Digital Input - Not Gripped are defined a ERROR_NO_PIN_DEFINED exception is thrown. |
I/O Gripper - Check Opened¶
Checks the defined control pin for Digital Output - Opened.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Gripper ID | String | The id defined in the Component Manager for the gripper. |
| Outputs | Gripper Opened | Boolean | True, if the gripper is opened (the respective digital input is set). False otherwise. If the pin Digital Input - Opened is not defined a ERROR_NO_PIN_DEFINED exception is thrown. |
I/O Gripper - Check Closed¶
Checks the defined control pin for Digital Output - Closed.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Gripper ID | String | The id defined in the Component Manager for the gripper. |
| Outputs | Gripper Closed | Boolean | True, if the gripper is closed (the respective digital input is set). False otherwise. If the pin Digital Input - Closed is not defined a ERROR_NO_PIN_DEFINED exception is thrown. |
Exceptions¶
All function blocks can throw the following exception in case errors occur:
- ERROR_NO_DIGITAL_IO: The defined digital I/O pin is not valid.
- ERROR_NO_DIGITAL_OUTPUT: The defined digital I/O pin is not a digital output.
- ERROR_COMMUNICATION: The communication failed, when communicating with the robot controller to get or set the I/O.
- ERROR_TIMEOUT: The operation took too long to get executed and timed out. The timeout duration can be configured in the Component Manager.
- ERROR_NO_PIN_DEFINED: No pin was defined in the Component Manager for the respective operation.
- ERROR_UNKNOWN_DEVICE: The stated Gripper ID to identify the gripper is not registered as gripper component.