Start-up
03.00 | MEG 64 EC | Assembly and Operating Manual | en | 389203
33
Procedure for live mode 2
Ø The voltage at the input "Analog steps" (terminal 23) and at the
"Pos." potentiometer (potentiometer P3) must be set to 0V.
Ø The analog values for speed ("Analog input: Speed" (terminal
22) or "Speed" potentiometer (potentiometer P2) and force
("Analog input: Force) (terminal 24) or "Force" potentiometer
(potentiometer P1) must be set to the application-specific value
(the desired values can be found under "Analog inputs").
Ø When twice applying a rising edge at the digital inputs "Gripper
open" (terminal 21) or "Gripper closed" (terminal 20), the
gripper opens or closes in live mode 2 based on the preset
force. For this the second rising edge must be carried out on the
same terminal ("Gripper open" (terminal 21) or "Gripper
closed" (terminal 20) as the first rising edge. If prior to the live
movement a position movement was performed in the same
direction, only one rising edge is required at the input terminals.
During the gripper finger movement, the digital output "Gripper
stopped" (terminal 13) issues a Low signal.
Ø If the gripper moves to the workpiece stop, the output "Gripper
stopped" (terminal 13) issues a High signal; the gripper is,
however, further supplied with electrical current and clocked.
Ø The workpiece is safely gripped until the signal on the input
"Gripper open" (terminal 21) or "Gripper closed" (terminal 20) is
reset by a falling edge.
NOTE
If a live movement is performed in the same direction
immediately after a travel movement in "position mode", then
you will immediately be in live mode 2, since a rising edge has
already been applied in order to perform the position movement
and the second rising edge has been applied in the same direction
of movement for the live movement. For live mode 1, you must
first apply a rising edge at the digital input ("Gripper
open" (terminal 21) or "Gripper closed" (terminal 20) of the
respective other movement direction and then immediately reset
it again. Then the live movement can be enabled in the actual
direction. You will then be in live mode 1.
5.6 External reset
When applying a rising and then a falling edge at the input "Reset",
a reset is performed in the internal micro-processor. This means the
gripper immediately stops and all outputs are reset. The next
command that arrives is then performed entirely normally.
The controller takes about 5 seconds to perform a reset.
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