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IF Present (Up) THEN
SetDO DO10_06_FixCylinder1_Down, 0;
SetDO DO10_05_FixCylinder1_Up, 1;
WaitDI DI10_05_FixCylinder1_Up,1;
ENDIF
IF Present (Down) THEN
SetDO DO10_05_FixCylinder1_Up, 0;
SetDO DO10_06_FixCylinder1_Down, 1;
!WaitDI DI10_06_FixCylinder1_Down,1;
ENDIF
ENDPROC
ENDMODULE
Software commissioning
For detailed software commissioning procedure, see New gripper function test .
Product Manual - FlexGripper-Claw
4GAA40401009901-001 Revision: A
© Copyright 20132019 ABB. All rights reserved.
2 FlexGripper-Claw
2.3.5 Commissioning
Continued
47
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Troubleshooting
