User Manual
R12 Tool Changer instructions page 2 ST robotics
Pneumatic connections to the tool changer for both gripper and vacuum pickup.
Diagram 2
Connections for pneumatic gripper are shown as G. The pair G2 on the robot-side adaptor will line up with
the similar pair G2 on the tool side adaptor. Connections for the vacuum are shown as V. If there is an
electric gripper this would normally be connected through the contacts shown as E1. E2 are spare. Or you
can use all 5 connections for other electronic device.
The controller has an output port PA with 8 bits, 2 of which control the pneumatic valves.
Referring to the Forth definitions below (and on your cd), R12TOOLCHANGE
PA 2 selects either the vacuum or the gripper.
PA 0 turns then both on. PA 0 is controlled by GRIP and GRIPPER.
If PA 2 is ON then air goes to the gripper valve. GRIP closes the gripper and UNGRIP opens. This can only
be used if the gripper is currently locked to the robot. Otherwise air will just come out of the robot-side
adaptor.
If PA 2 is OFF then air goes to the vacuum valve. GRIP then sends air to the Venturi which creates a
vacuum. The vacuum tube is a 3
rd
tube through the robot to the tool changer.
With no tool locked on the robot at all you need to turn off all the air. So both PA 0 and PA 2 should be off.
PA 2 OFF diverts air to the vacuum valve and PA 0 OFF switches the air to the blocked port. The definition
AIRSTOP does this.
: VAC PA 2 ; ( OFF = VAC, ON = GRIPPER
: VACON
VAC OFF
;
: AIRSTOP
VAC OFF GRIPPER OFF
;