Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
89
STEP #11 (VAC. VALVE/SENSOR)
Step 11 tests the vacuum valve(s) and vacuum sensor(s) attached to the
robot. For models with one vacuum valve and one sensor, only position
#1 is relevant.
Turn the vacuum valve on (open the valve) by using number key 1 for
valve one and then pressing the 2 key for the second valve. Place and
remove an object on the end-effector. The vacuum valve should indicate
On and Off respectively.
If the sensor remains on at all times, decrease the sensitivity. If it remains
off, increase the sensitivity. Refer to “Adjusting the Vacuum Sensor” in
the Installation chapter for instructions on adjusting the sensitivity.
STEP #12 (ROBOT I/O’S)
This step tests the output connections for Port A and reads the input for
Port F.
Use the number keys, 0 to 7, to toggle the eight output bits. The first five
bits should toggle, indicating the connections are working. The last three
bits do not toggle.
#1 #2
Vac Sensor On/Off On/Off
Vac Valve On/Off On/Off
Press ‘1’ or ‘2’
(Vacuum Sensors)
(Vacuum Valves)
BYTE #: 01234567
OUT 00000111
IN 11111111
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