How to operate a vacuum gripper using CPRog and the Modular Control Electronics

From Wiki

In general all grippers are controlled via a DIO module on the DIN rail. Normally, even when no gripper has been supplied, the Modular Control Electronics come with a single DIO module.

The DigitalIO module does not provide its own supply voltage. However the main supply of the Modular Control Electronics can be connected to the SUP pin (see section below) to supply power to the components connected to the digital outputs.

Electrical Integration

DIO pinout.png

Digital Outputs

The digital outputs are at the bottom of the image on the left.

  • Disconnect the robot and its control electronics from power.
  • Connect a (external 24V) power supply to the D-out A "Sup" pin(see image on the left)
  • The supply voltage can be output to the pins labeled DOut A "1-3" and D-out B "4-7". There are seven separate reed relays that do the switching.
  • Depending on the gripper in use, connect the positive side of a solenoid valve or electrical gripper output pin. Here D-out B pin "5".
  • Connect the negative side of the gripper to GND of the same power supply to close the electrical circuit.
  • See the example with the lamp on output 5 on the left. (You would obviously connect the gripper in place of the lamp for the purpose of this tutorial.)


Operate the gripper in CPRog

This could also be titled "how to enable a digital output in CPRog".

Manual Use

This is e.g. useful for an initial test: The tab "DIN-Rail Input/Output" in CPRog allows to check the input states and to set the output channels for up to three DIO modules. Note that there is also a tab simply called (Input/Output) this tab is not relevant for the modular control electronics.

When the physical robot is connected, only the outputs can be set. The inputs are shown based on the signals from the electronics. (During simulation, i.e. with the physical robot disconnected, also the input channels can be set to simulate e.g. sensors.)

Only the outputs are relevant for the gripper that we are trying to operate. File:DIO cprog.png

Use in CPRog Programs

The modules can be used the same way as the standard module:

Digital Output Numbers Digital Input Numbers
Module 1 (standard) 21 to 27 21 to 27
Module 2 (additional) 31 to 37 31 to 37
Module 3 (additional) 41 to 47 41 to 47

Example

This enables the

  • first output of the first DIO module (DOut21)
  • first output of the second DIO module (DOut31)
  • second output of the second DIO module (DOut32)
  • first output of the third DIO module (DOut41)
  • seventh output of the third DIO module (DOut47)

File:DIO CPRog outputs.png


This waits until the fifth input of the third module is high:

File:DIO CPRog inputs.png

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