Specify Hand Control Signals Signal Fields Specify Hand Control Signals The numbers of the digital signals accessed by MicroV+ for controlling the end-effector are stored on the MicroV+ system disk. The Hand Control Configuration page provides fields to change these specifications. Choosing the Off option for a specified signal has the effect of setting a negative signal number which indic- ates that the gripper will be activated when the signal is deasserted. For additional information on the digital signal configuration, see the MicroV+ help topic Understanding Digital I/O Signal Mapping.
When the robot is running, you can monitor the digital signals using the Digital I/O Tool available in ACE. For details, see Digital I/O Window on page 166. ACE User's Guide, 3.6.x 18316-000 Rev A Page 278 Item Description On/Off Each signal field has an On or Off option which determines how the hand con- trol responds to the specified signal. On indicates that the hand will perform the specified operation when the signal is turned on. Off indicates that the hand will perform the specified operation when the signal is turned off. The signals listed in the selection list for each signal field include both the hard and soft signals.
Open Signal Specifies the signal used to Open the hand control. Open Relax Signal Specifies the signal to relax the pneumatic hand after it opens. Close Signal Specifies the signal used to Close the hand control. Close Relax Signal Specifies the signal used to relax the pneumatic hand after it closes.