Inputs and Outputs
For pick and place project types, you will be prompted by the wizard to configure input and output signals. Only the GripOn output is required. All other I/O signals are optional. I/O labels for the new project are automatically created. The signals that are defined are used in the generated SPEL+ program.
KEY POINTS
Signals that have been reserved for use with remote I/O are not allowed.
| Signal Name | Type | Description |
|---|---|---|
| StartCycle | Input | Starts a pick and place cycle. If not defined, a message box is added to the generated code that prompts the operator to start a cycle. |
| PartGripped | Input | Used to detect if the part is grasped or not. For example, if a vacuum gripper is used, this signal could be a vacuum sensor that detects that a part was picked up or released. If this signal is not specified, then a predefined delay is added to the code after turning the part gripper on and off. |
| InCycle | Output | Indicates that a pick and place cycle is running. |
| GripOn | Output | Turns on the gripper to grip the part. |
| GripOff | Output | If specified, this turns off the hand to release the part. The hands with two points requires to specify. If not specified, the part is released when GripOn is Off. |
| ErrorLight | Output | Indicates that an error occurred. |
| MobCamLight | Output | Controls the light mounted with the mobile camera. |
| UpCamLight | Output | Controls the light mounted with the upward camera. |