Brooks Automation 6. Software Reference
Part Number: PF40-DI-00010 Rev. A G1400B Dedicated Digital Outputs
For vacuum grippers, digital output 1 turns on vacuum and digital output 2 turns on blow off air.
Digital input 4 goes high when vacuum is present.
Figure 6-7: Inner Link Cable Position for RS485 Servo Gripper Signals
Figure 6-8: Outer Link Cable Position for RS485 Servo Gripper Signals
G1400B Dedicated Digital Outputs
The G1400B adds one dedicated digital output to the standard dedicated signals found in the
Guidance Controller, as shown in Table 6-2.
Users normally do not need to modify the setting of the status lamp (IO 20) since the standard robot
software typically manages this signal. However, this signal can be manually altered under program
control via the GPL SIGNAL.DIO instruction. This is controlled by DOUT signal 20 (Table 6-2). If
direct control of this signal is desired, DataID 235 should be set to 0 and signal number 20 should be
controlled by program control.
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