Gripper Editor Object Menu Help on 'IO Driven Gripper' Displays the online help for the Gripper editor. Refresh Editor Refreshes the contents of the Gripper editor window. Close Closes the Gripper Editor. Editor Parameters and Online Help The middle portion of the IO Driven Gripper editor contains the editor parameters. These are used to con- figure various settings on the selected robot. The bottom area of the IO Driven Gripper editor displays online help for the selected parameter. Several of the important IO Driven Gripper editor parameters are described below:
ACE User's Guide, 3.6.x, 18316-000 Rev A Page 111 Item Description Add/Delete buttons Used to add a new gripper tip or to delete an existing gripper tip. Tip list Displays the list of defined gripper tips. NOTE: For robot-to-belt or robot-to-camera calibrations, if a gripper has multiple tips defined, the entire tool (all tips) will be used to pick up and release the part during the calibration procedure. The centerline of the gripper will be used as the reference TOOL in the calibration procedure. Input/Output signals Defines the Open/Close or Extend/Retract activation signals, and Opene- d/Closed or Extended/Retracted status signals for the selected tip.
You can define multiple signals by entering the signal numbers separated by a comma (for example: 97, 98). When multiple signals are defined, the fol- lowing icon colors apply: on off multiple signals, not all are on or off NOTE: When emulation mode is enabled, the Input signals are ignored; if the Output signals are not valid signals, they are ignored. Presence Through the specified signal from a part-presence sensor, indicates the pres- ence (on) or absence (off) of a part in the gripper. If specified, the status of the presence sensor is checked when picking or placing a part:
before the robot places a part at a target, the signal must be on; before the robot picks a part, the signal must be off.