MONTAGE- UND BETRIEBSANLEITUNG:
10.2.5 IO-Belegung bei angeschlossenem Greifer (Single Mode)
Advanced und Basic bezeichnen verschiedene Klassen von Greifern der Zimmer GmbH.
Pin IO-Modul
Pin
Digital Input X4
1
2
3
4
5
6
Pin
Digital Input X5
7
8
9
10
11
12
Pin
Digital Output X6
1
2
3
4
5
6
Pin
Digital Output X7
7
8
9
10
11
12
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com
SCM
Port 1 - Advanced_Gripping
Funktion
Advanced_Gripping
Input 1
Cmd_Release
Input 2
Cmd_Grasp
Input 3
Cmd_Reset
Input 4
Cmd_MotorOn/Cmd_MotorOff
Input 5
Cmd_Homing
Input 6
-
Input 7
-
Input 8
-
Input 9
Cmd_WP_Bit0
Input 10
Cmd_WP_Bit1
Input 11
Cmd_WP_Bit2
Input 12
Cmd_WP_Bit3
Output 1
IsReleased
Output 2
IsGrasped
Output 3
IsClosed
Output 4
OnUndefinedPos
Output 5
Error
Output 6
MotorOn
Output 7
HomingOk
Output 8
-
Output 9
IsGrasped
Output 10
IsClosed
Output 11
OnUndefinedPos
Output 12
Error
Port 1 - Basic_Gripping
Basic_Gripping
Cmd_Release
Cmd_Grasp
Cmd_Reset
-
-
-
-
-
Cmd_WP_Bit0
Cmd_WP_Bit1
Cmd_WP_Bit2
Cmd_WP_Bit3
IsReleased
IsGrasped
IsClosed
OnUndefinedPos
Error
-
-
-
IsGrasped
IsClosed
OnUndefinedPos
Error
15