Grippers and Tools

Name: Displays the output signal name.
Signal Type: Sets the output signal type (controller, flange).
Port Number: Select the end effector output signal port.
Signal: Tests the output signal status.

Grippers are end effectors that have fingers to pick up or drop objects. The following is the setting screen for a pneumatic gripper. This example will be used as the basis for explaining how to configure an end effector. For more information about each gripper setting, refer to the separate manuals provided.

No.	Item	Description
1	Workcell Name Input Field	Enter the name of the end effector.
2	Communication	Sets the I/O signal of the end effector.
3	Tool Center Point	Sets the tool center point (TCP) of the end effector.
4	Output Signal	Checks and sets the output signal. (If a function is enabled in Workcell Item Action, its name and signal type are disabled.) Name: Displays the output signal name. Signal Type: Sets the output signal type (controller, flange). Port Number: Select the end effector output signal port. Signal: Tests the output signal status.
5	Input Signal	Checks and sets the input signal. (If a function is enabled in Workcell Item Action, its name and signal type are disabled.) Name: Displays the output signal name. Signal Type: Sets the input signal type (controller, flange, Modbus). Port Number: Select the end effector output signal port. Operation: Displays the input signal status. If the signal is normal, it is displayed as green.
6	Delete	Deletes the end effector being configured.
7	Confirm	Saves the setting.