Gripper
The Gripper can be moved vertically on the rail.
It has 3 actions:
grip work piece -- the gripper moves down, checks whether a work piece is available, grips it and moves up
check work piece -- the gripper moves down and waits for the color detection, after finishing this procedure it moves up
depose work piece -- the gripper moves down and deposes the work piece onto the slide
| Gripper | Address | Function |
|---|---|---|
| Outputs | DI 0.4 | position gripper down (2B1) |
| DI 0.5 | position gripper up (2B2) | |
| DI 0.6 | work piece available (3B1) | |
| Inputs | DO 0.2 | descent gripper (2Y1) |
| DO 0.3 | open gripper (3Y1) |