::heading=Context
The I/O coupling is a product that enables the control of Robotiq adaptive and vacuum grippers using 2 inputs and 2 outputs from a robot to trigger action presets pre-programmed in the coupling.
For Universal Robots (model CB3), Techman, and Omron/TM cobots, we have some software components to manage the trigger of those I/Os.
However, one may want to program its own control of those presets. For example, a custom integration to a robot model that has I/Os but is not supported by our software components.
::heading=Knowledge
Here are the positions of the Pins :
The first step to initiate the communication between the robot and the gripper is to launch the initialization command to the gripper so it can calibrate its positions.
To do so, the following steps must be done using the two connected inputs (robot outputs):
It will then be possible to trigger each presets by writing one of the four possible combinations using the two outputs (00,01,10,11).
It is also possible to read from the two outputs of the coupling (connected to the robot's inputs)
Value of digital inputs (Respectively byte 0 and 1): 00 = Not Ready (also when not activated)
11 = Gripper Ready
01 = Object detected
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