Yaskawa MotionWorks IEC Toolboxes - Manual (Page 285)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 272
GripperControl
This function block can operate a simple gripper device if the actuator can be controlled via a digital output. It
will activate an output while waiting for confirmation that a corresponding input has changed state to indicate
that the gripper has successfully opened or closed.
Parameters
* Parameter Data Type Description
VAR_IN_OUT
V Gantry GantryStruct Contains all information pertaining to a gantry system.
VAR_INPUT Default
B Execute BOOL
Upon the rising edge, all other function block
inputs are read and the function is initiated. To
modify an input, change the value and re-trigger
the execute input.
FALSE
B Open BOOL Command to open the gripper
B Close BOOL Command to close the gripper
VAR_OUTPUT
B Done BOOL
Set high when the commanded action has been completed
successfully. If another block takes control before the action is
completed, the Done output will not be set. This output is reset
when execute goes low.
B Busy BOOL
Set high upon the rising edge of the 'Execute' or 'Enable' input,
and reset if Done, CommandAborted, or Error is true.
B Error BOOL
Set high if error has occurred during the execution of the
function block. This output is cleared when 'Execute' or 'Enable'
goes low.