User Manual
R12 Tool Changer instructions page 3 ST robotics
Once you have the vacuum tool attached then just use GRIP and UNGRIP which operate PA 0 and
simultaneously turn on valves V2 and V3.
.
If you have the gripper attached first do VAC ON then use GRIP and UNGRIP.
Don't forget to AIRSTOP before you disengage the tool.
If you have the vacuum pickup attached select it with VAC OFF. This may seem counter-intuitive but ensures
a safe situation when the controller is switched off.
Pneumatic gripper and electric gripper.
The pneumatics circuit is as diagram 1 but without V2 or Venturi. Note that the electric gripper uses PA 0 and
PA 1. PA 1 must not be used by any valve or other device.
A variable GTYPE has the value 0 for a pneumatic gripper or 1 for electric.
When you are about to use the pneumatic gripper enter
0 GTYPE !
For the electric gripper enter
1 GTYPE !
Vacuum pickup and electric gripper.
Diagram 3
: VAC PA 2 ; ( OFF = VAC, ON = GRIPPER
: VACON
VAC OFF
;
A variable GTYPE has the value 0 for vacuum pickup or 1 for electric gripper.
When you are about to use the vacuum pickup enter
0 GTYPE !
For the electric gripper enter
1 GTYPE !