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Instalación
Asignación de IO en dos garras conectadas: 2 garras Zimmer Group
Puerto 1
Advanced_Gripping
Puerto 2
Advanced_Gripping
PIN Input
1
2
3
4
5
6
7
8
9
10
Cmd_Motor_ON/Mo-
11
Cmd_Homing
12
PIN Output
1
2
3
4
5
6
(Motor ON 1) & (Motor
ON 2)
7
(Homing OK 1) & (Ho-
ming OK2)
8
9
10
11
12
18 / 32
Cmd_Motor_ON/Motor_OFF
Cmd_Homing
tor_OFF
Advanced_Gripping
Basic_Gripping
Cmd_Release
Cmd-Grasp
Cmd_Reset
—
Cmd_Release
Cmd-Grasp
Cmd_Reset
—
isReleased
isGrasped
isClosed
undefined Position
Error
Motor ON
Homing OK
isReleased
isGrasped
isClosed
undefined Position
Error
Basic_Gripping
Basic_Gripping
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—
—
—
—
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ES · 30.30.01.02782 · 00 · 07/21
X4
X5
X6
X7
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