Precautions on Using an Electric Gripper

When Ethernet and EtherCAT are used for the method of communicating between robot controllers, an electric gripper control board cannot be installed to the master controller (because both an EtherCAT master board and an electric gripper control board are PCI boards).

In such a case, if an electric gripper needs to be used in a robot connected to the master controller, install an electric gripper control board for 2CH to the slave controller.

Connect the wiring from the electric gripper control board for 2CH installed to the slave controller to the electric gripper of each robot connected to the master and slave controllers (Refer to the figure below).

For cooperation with three or more robots, install an electric gripper control board (1CH or 2CH) in each slave controller, according to the number of electric gripper to use.

The electric gripper control board for (1CH or 2CH) installed to the slave controller can be controlled by the master controller. For the way of controlling an electric gripper control board, refer to "How to Use an Electric Gripper in Cooperative Control Function".

Prepare the license of electric gripper control board for the number of boards to be used. For this setting, use the license of the robot controller where the electric gripper control board is installed. Note that the license installed in the master controller is not valid in the slave controllers. Even if you purchase a license for the master controller and install it in the master controller, you cannot use the electric gripper control board installed in the slave controllers.