ABB IRB 2000 - Page 201

5.2.4.16
GRIPPER
Description
The parameter GRIPPER specifies the number of grippers in the robot system, and
the digital outputs that are to be reserved for connection of grippers 3-8.
Parameter I
The parameter specifies the number of grippers in the robot system.
Menu
GRIPPER
Info text
PRESENT VALUE =
Guide text
NO OF GRIPPERS =
Def. range
3-8 grippers
Default value
2 grippers
Parameter II
The parameter specifies the logical digital output which gripper 3 is to be
connected to.
Menu
Resulting question.
Info text
PRESENT VALUE =
Guide text
OUTPUT NO (GRIPPER 3) =
Def. range
Logical digital output 1-128.
Default value
Logical digital output 9.
Note
When 4-8 grippers are specified under "Parameter I" above, the control system will
automatically reserve the number of logical digital outputs required, wit the
consequent numbers higher than the output specified under "Parameter II".
INSTALLATION
5:37