YASKAWA DX100 Operator's Manual

10 Handling Application
10.1 Outlines
10-2
155507-1CD
RE-CSO-A037
DX100
10.1.2 HAND Instruction
10.1.2.1 Function
The following instructions open and close the grippers mounted on
the manipulator. They correspond to single-, double-, and triple-
position solenoids. Up to four
grippers can be controlled for each
manipulator. The following sequences are available for solenoid
signal control, according to the valve selected.
 SP (single-solenoid)
The HAND instruction turns ON/OFF the gripper valve (x-1). The
inverse signal is output to the
gripper valve (x-2). Connect the valve
to either one when used in a single-solenoid.
 2P (double-solenoid)
The HAND instruction turns ON/OFF the gripper valve (x-1). The
inverse signal is output to the
gripper valve (x-2).
 3P (triple-position solenoid)
Adding ALL to the HAND instruction allows both gripper valve (x-1)
and
gripper valve (x-2) to be turned ON/OFF simultaneously.
Functions as a double-solenoid if ALL is not added to the HAND
instruction.
10.1.2.2 Instruction and Additional Items
(1) Device Number(#1 or #2)
Sets when two manipulators are used for handling.
(2) Gripper Number(1 to 4)
Required.
Table 10-2: Valve ON/OFF Condition
of Each Solenoid
Instruction
(x: Gripper No.)
SP
(Valve x-1/x-2)
2P
(Valve x-1/x-2)
3P
(Valve x-1/x-2)
HAND x ON ON/- (-/OFF) ON/OFF ON/OFF
HAND x OFF OFF/- (-/OFF) OFF/ON OFF/ON
HAND x ON
ALL
- - ON/ON
HAND x OFF
ALL
- - OFF/OFF
HAND #1 1 OFF ALL
(1)
(2) (3) (4)
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YASKAWA DX100 Specifications

General

Programming Language	Inform III
Compatible Robots	Motoman robots
Operating Temperature	0-45°C
Humidity	20-80% RH (non-condensing)
Protection Class	IP20
Interface	Ethernet
Safety Standards	ANSI/RIA R15.06-1999
Pendant	Available
I/O Capacity	1024 inputs / 1024 outputs
Storage Temperature	-10-60°C