ABB IRB 14000 Product Manual

Also see for IRB 14000: Operating manual Product manual Operating manual Product manual

Contents

ABB IRB 14000 Product Manual Manual pdf 6 page image

1195.2.1.4 g_MoveTo - Move the gripper to a target position ..............................1215.2.1.5 g_GripIn - Jog the gripper to grip inward ..........................................1245.2.1.6 g_GripOut - Jog the gripper to grip outward ......................................1275.2.1.7 g_Calibrate - Calibrate the gripper ..................................................1285.2.1.8 g_Stop - Stop the gripper ..............................................................1295.2.1.9 g_SetMaxSpd - Set the maximum speed ..........................................1305.2.1.10 g_SetForce - Set the gripping force .................................................1315.2.2 RAPID instructions for pneumatic modules ..................................................1315.2.2.1 g_BlowOn1 - Turn on blowing channel 1 ..........................................1325.2.2.2 g_BlowOff1 - Turn off blowing channel 1 ..........................................1335.2.2.3 g_BlowOn2 - Turn on blowing channel 2 ..........................................1345.2.2.4 g_BlowOff2 - Turn off blowing channel 2 ..........................................1355.2.2.5 g_VacuumOn1 - Turn on vacuum channel 1 ......................................1365.2.2.6 g_VacuumOff1 - Turn off vacuum channel 1 .....................................1375.2.2.7 g_VacuumOn2 - Turn on vacuum channel 2 ......................................1385.2.2.8 g_VacuumOff2 - Turn off vacuum channel 2 .....................................1395.3 Functions ........................................................................................................1395.3.1 RAPID functions for servo module ..............................................................1395.3.1.1 g_IsCalibrated - Get gripper calibration status ...................................1405.3.1.2 g_GetPos - Get current gripper position ...........................................1415.3.1.3 g_GetSpd - Get current gripper speed .............................................1425.3.1.4 g_GetState - Get current gripper status ............................................1445.3.1.5 g_GetErrID - Get current gripper error ID ..........................................1465.3.2 RAPID functions for pneumatic module .......................................................1465.3.2.1 g_GetPressure1 - Get vacuum pressure 1 ........................................1475.3.2.2 g_GetPressure2 - Get vacuum pressure 2 ........................................1485.3.3 RAPID functions for camera module ...........................................................1485.3.3.1 g_IsCamOnline - Get handheld camera connection status ...................1496 Decommissioning1496.1 Environmental information ..................................................................................1517 Reference information1517.1 Introduction ......................................................................................................1527.2 Unit conversion .................................................................................................1537.3 Standard toolkit ................................................................................................1558 Spare parts1558.1 Introduction ......................................................................................................1568.2 Spare part lists and illustrations ...........................................................................1568.2.1 Parts .....................................................................................................1608.2.2 Description of spare part versions ..............................................................163Index6 Product manual - IRB 14000 gripper3HAC054949-001 Revision: H© Copyright 2015-2018 ABB. All rights reserved.Table of contents