Robot Controller Hardware; Integration Of The Adaptive Shape Gripper With Ciros; Mode Of Operation - Festo 8116512 Instrucciones De Servicio

Adaptive shape gripper

9 Robot controller hardware

The following description can be implemented 1:1 for the following controllers:
• CR800
•
CR750/CR/51
•
CR2-B
•
CR1
This also applies to the code of the sample programs, it is only necessary to pay attention to the respective
properties of MB4, MB5 and MB6.
The integration is made using the CIROS
In all other versions this is also possible, possibly with a different screen layout.

10 Integration of the adaptive shape gripper with CIROS

10.1 Mode of operation

The adaptive shape gripper is activated via a 5/3-way impulse valve.
For gripping parts, the gripper must be prepared for gripping as follows:
Extend the piston rod:
Then reset both coils
During gripping
To release
A macro must be created for the function so that both coils can be reset using the standard command.
44
development environment, version 6.2.3
®
Q1=1 and Q2=0 [Hopen 1]
Q1=0 and Q2=0 [Hopen 2]
Q2=1 [Hclose 1]
first Q1=1 and Q2=0 [Hopen 1]
then Q1=0 and Q2=0 [Hopen 2]
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