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48
Key data for digital inputs
Vil (Volt in low)
Vih (Volt in high)
18
Key data for digital inputs
6.2
Protocol
6.2.1
System connection and application concept
System connection figure
The above figure shows a schematic connection of the SFE to a robot controller. For this, the SFE is
mounted on the robot flange. Then, various grippers can be mounted onto the SFE with ISO 9409-1
31.5-4-M5, or with the adapter plates supplied. The SFE communicates via a serial interface (RS-485)
and digital inputs/outputs with a controller.
The SFE measures a displacement for the 6 degrees of freedom (X, Y, Z, RX, RY, RZ) which is
caused by the contact between the gripper and a component. The SFE deflection is read by the robot
controller via the communication interface and can be processed there, in order to align the robot
correctly over the component being gripped, for instance.
The SFE can be locked via the RS-485 interface or via a digital input, i.e. it loses its flexibility. Locking
resets the deflection to zero, it cannot be locked when deflected. Locking is required, for example, for
dynamic movement between two positions.
An LED ring provides status information on the Flex Effector, the various LED modes are explained in
more detail in the section
en
Range of
functions.
Interface description
Specification
< 3.3 V
> 9.7 V
6
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