A: R104GB05A.PMD
B: R104DE05A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger
Section 5
Page 6
Gripper commands
The system jumps to the specified label if the
part monitor detects a fault.
When responding to individual signals from the
part and vacuum monitors it is also possible to
specify whether the action is to be ”High Active”
(logic ”0” fault) or ”Low Active” (logic ”1” fault).
V1 monit. OFF
G2monit. OFF
Switch off part monitor
V1 if BLOW OUT Label 1
G2 if UP L1
System jumps to Label 1 at the blowing out
point.
System jumps to Label 1 when the gripper is
open.
V1 if VACUUM Label 1
G2 if CLOSE L1
The system jumps to Label 1 at the vacuum
suction point.
System jumps to Label 1 when the gripper is
closed.
V1 if Label 1 monitoring ON
G2 if Label monitoring OFF
If the part or vacuum monitor is set to the logic
value ”0” or ”1”, the system jumps to Label 1.
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