PreCise PF400 Hardware Reference Manual page 162

PreciseFlex_Robot
27. Pneumatic gripper configuration
28. Dual pneumatic gripper configuration (with Rev C sheet metal, 2016)
29. After installing the appropriate gripper, check Digital Input 1 for Pneumatic Gripper open sensor,
Digital Input 2 for Pneumatic Gripper close sensor, and Digital Input 4 for vacuum present sense,
if these sensors are installed. For vacuum grippers Digital Output 1 will turn on vacuum valve
and Digital Output 2 will turn on vacuum blow-off function in vacuum generator, if installed. For
Pneumatic grippers Digital Output 1 turns on the pneumatic valve 1 and Digital Output 2 turns on
the pneumatic valve 2.
30. After removing the servo gripper, new PAC files must be installed in the robot to correctly
configure it as a 4 axis robot, or 4 axis robot on a linear rail. Unless the correct PAC files are
installed, the software will be looking for the missing gripper controller (GSB) and will generate an
error. See Updating PAC files in the Software Reference section.
31. After new PAC files are installed, or after unplugging the J4 motor/encoder interface board, the
robot must be re-calibrated. See Calibrating the robot under Service Procedures.
154