A: R104GB05A.PMD
B: R104DE05A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger
Section 5
Page 4
Gripper commands
V1 VACUUM monitor ON STOP
High Active
G2 CLOSED Monitoring ON STOP
Low Active
Vacuum created. Vacuum created. Vacuum
monitoring is activated simultaneously when the
part monitor detects a fault, i.e. the logic status
is ”0”. The program is stopped immediately.
Grippers close. Part monitor is activated
simultaneously when the part monitor detects a
fault, i.e. the logic status is ”1”. The program is
stopped immediately.
V1 VACUUM monitor ON PSTOP
High Active
G2 CLOSED Monitoring ON PSTOP
Low Active
Vacuum created. Vacuum monitoring is
activated simultaneously when the part monitor
detects a fault, i.e. the logic status is ”0”. The
program is stopped at the next PStop line.
Vacuum created. Vacuum monitoring is
activated simultaneously when the part monitor
detects a fault, i.e. the logic status is ”1”. The
program is stopped at the next PStop line. (Fault
52, refer to ”PCS commands” in the handbook)
V1 VACUUM monitoring ON Label TEST
High Active
G2 CLOSED Monitoring ON Label TEST
Low Active
Vacuum created. Vacuum monitoring is
activated simultaneously when the part monitor
detects a fault, i.e. the logic status is ”0”. The
program jumps to a specified label (e.g. TEST).
Grippers close. Part monitoring is activated
simultaneously when the part monitor detects a
fault, i.e. the logic status is ”1”. The program
jumps to a specified label (e.g. TEST).
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