2 FlexGripper-Vacuum2.3.5. Commissioning3HAC040633-002 Revision: -36NOTE!The hook is open, when ’DO10_02_PalletPicker_Close’ is 0 and’DO10_01_PalletPicker_Open’ is 1. While the hook is close, when’DO10_02_PalletPicker_Close’ is 1 and ’DO10_01_PalletPicker_Open’ is 0.PFPS_PalletPicker()PROC PFPS_PalletPicker()IF Present (Open) THENSetDO DO10_02_PalletPicker_Close,0;SetDO DO10_01_PalletPicker_Open,1;ENDIFIF Present (Close) THENSetDO DO10_01_PalletPicker_Open,0;SetDO DO10_02_PalletPicker_Close,1;ENDIFENDPROCNOTE!The pneumatic search cylinder is forward when ’DO10_14_PostionSeacher_Backward’ is 0and ’DO10_13_PostionSeacher_Forward’ is 1. The pneumatic search cylinder is backwardwhen ’DO10_14_PostionSeacher_Backward’ is 1 and ’DO10_13_PostionSeacher_Forward’ContinuedContinues on next page
