SetVacuumThreshold#

This queued command sets the thresholds for the vacuum sensor (which measures only negative pressure) in the MVK01 vacuum and I/O module that will be used for reporting whether a part is being held or not.

Syntax#

SetVacuumThreshold(p_h,p_r)

Arguments#

p_h: when the negative pressure sensed is smaller than p_h, the robot reports that a part is being held. The value for this argument ranges from −100 kPa to −5 kPa.
p_r: when the negative pressure sensed is larger than p_r, the robot reports no part is being held. The value for this argument ranges from −95 kPa to 0 kPa. The value of p_r must be larger than the value of p_h by at least 5 kPa.

Default values#

The default settings are applied whenever the robot is power cycled (rebooted).

By default, p_h = −40 kPa, and p_r = −30 kPa. To reset to the default values, send the command SetVacuumThreshold(0,0).

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

[1005][The robot is not activated.]

[1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the SetVacuumThreshold command is represented by MotionCommandID 41. See Section 4.2 for more details.