Brooks Automation 5. Software Reference
Part Number: 603988 Rev. A
Optional Pneumatic or Vacuum
Gripper
Optional Pneumatic or Vacuum Gripper
It is possible to order an optional pneumatic or vacuum gripper. In these cases, the GSB board
provides two outputs and three inputs that can be used to control solenoids and sense end of travel.
As a special option the GSB board can be replaced by a GIO optional IO board with 12 inputs and 8
outputs, described earlier. Signals from the GIO board can then be used to control gripper solenoids
and IO. In this case the blue status light LED is wired back to the GSB board that drives the Z-axis.
Control of Status Lamp on Theta Cover
Users normally do not need to modify the setting of the status lamp (Digital Output 200015) since
the standard robot software typically manages this signal. However, if desired this signal can be
manually altered under program control via the GPL SIGNAL.DIO instruction. This is controlled by
DOUT signal 200015. If direct control of this signal is desired, DataID 235 should be set to 0 and
signal number 200015 should be controlled by program control.
Copyright © 2023 Brooks Automation, Inc.
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