IAI America XSEL-S - Manual (Page 41)

5. V
ision System I/F Function Setting
35
Example 1 : When holding with grip
(grip when I/O Port 314 is ON and release when 315 is ON)
BTOF (315) ĸI/O Port No. (315) turns OFF
TIMW (0.1) ĸKeep time for electromagnetic valve to turn OFF
BTON (314) ĸI/O Port No. (314) turns ON (grip)
TIMW (0.3) ĸRetain the gripping time
GOTO 52 ĸTo the process for work hold success
Example 2 : When holding with an electrical gripper connectable to XSEL (connected to the
4th axis)
GRP (1000) ĸCommand to make only gripper available for operation
PAPR (10) (20) ĸPressing (10) : approach distance
(20) : approach speed
PUSH (30) (900) ĸ (30) : Position number of the pressing position
(900) : Turns ON when pressing succeeded
Turns OFF when failed
GRP (111) ĸCommand to make all the operations available except for gripper
(900) GOTO 52 ĸTo the process for work hold success
N (900) GOTO 53 ĸTo the process of work hold fail