Signal and Rapie command

ourworlds

I created a signal for the gripper with smart comp follow the tut on the video, and set in the event manager too, but what is the command i need to use in the rapie programme. i know the tut example was SetGO ........,1; so what is the name for that? i used the signal name but still not working.thank you

Henrik Berlin

If it is a digital output you can always try SetDO. Read more about this instruction in the RAPID Reference manual that is available in the Help menu of RobotStudio.

Henrik Berlin

You can download the station used for the Smart Component tutorials from the Shared Content-part of the RS Community if you want a closer look.

ourworlds

thank you for the reply, i have take a look already

SetDO doVacuum,1; WaitDI diVacuum,1; MoveL RelTool(pPickPos,0,0,-600),v1000,z10,tGripperWObj:=wobj0; MoveJ relTool(pLeavePos,0,0,-700),v1000,z10,tGripperWObj:=wobj0; MoveL pLeavePos,v1000,fine,tGripperWObj:=wobj0; SetDO doVacuum,0; WaitDI diVacuum,0; MoveL relTool(pLeavePos,0,0,-400),v1000,z10,tGripperWObj:=wobj0;

 

my questions was, i dont understnad why is the diVacuum for the command?

where is the connection between this and smart comp,

my programme only work when i do it manual , but i can't trigger it directly from rapid programme because i dont know what is the name, SetDo xxxxxx??thank you

Anders S

In a real robot cell the "diVacuum" is connected to a vacuum sensor which goes high when vacuum is detected between the suction cups and the object that should be picked, which tells the robot that it's ok to move. In the smart component this signal goes high when the object is attached to the gripper.