Opening and Closing the Gripper Edit the job to open and close the gripper at the end of your program. Highlight the last step (Home Position) of your program before the END command. the INFORM LIST button located at the bottom left of the pendant above the Motion Type key to bring up a series of commands used by the Motoman. To cancel out of the INFORM LIST press the INFORM LIST again to close it. Press IN/OUT from the top of the INFORM LIST. Press DOUT from the IN/OUT list. Select the DOUT #(1) ON, you should notice a comment that says GRIPPER OPEN. Press ENTER on the pendant to insert the new line. Select the CONTROL list from the INFORM LIST the select TIMER from the CONTROL list. Set the Timer value for seconds by selecting the value, clicking the SELECT key, enter the value using the Number Pad, and clicking ENTER to confirm. Insert this following the last line inserted. Insert a new line to turn off DOUT #(1) use the same line as before but turn the ON command to OFF to turn it off. Insert a second TIMER for 1 second. Turn the value for DOUT # (2) to ON this will make the gripper close. Insert a TIMER for 2 seconds. Turn DOUT # (2) to OFF lastly to turn off the air closing the gripper. Your final program should look exactly as the one shown below:
Opening and Closing the Gripper Edit the job to open and close the gripper at the end of your program. Highlight the last step (Home Position) of your program before the END command. the INFORM LIST button located at the bottom left of the pendant above the Motion Type key to bring up a series of commands used by the Motoman. To cancel out of the INFORM LIST press the INFORM LIST again to close it. Press IN/OUT from the top of the INFORM LIST. Press DOUT from the IN/OUT list. Select the DOUT #(1) ON, you should notice a comment that says GRIPPER OPEN. Press ENTER on the pendant to insert the new line. Select the CONTROL list from the INFORM LIST the select TIMER from the CONTROL list. Set the Timer value for seconds by selecting the value, clicking the SELECT key, enter the value using the Number Pad, and clicking ENTER to confirm. Insert this following the last line inserted. Insert a new line to turn off DOUT #(1) use the same line as before but turn the ON command to OFF to turn it off. Insert a second TIMER for 1 second. Turn the value for DOUT # (2) to ON this will make the gripper close. Insert a TIMER for 2 seconds. Turn DOUT # (2) to OFF lastly to turn off the air closing the gripper. Your final program should look exactly as the one shown below:
Motoman_LAB_1.docx