SetValveState#

This queued command is used to control each of the two valves in the MPM500 pneumatic module independently.

Syntax#

SetValveState(v1,v2)

Arguments#

  • v1: open (1), close (0), or keep unchanged (−1 or *) valve 1;

  • v2: open (1), close (0), or keep unchanged (−1 or *) valve 2.

Default values#

Both valves are closed by default, i.e., at power-up, and are automatically closed when the robot is deactivated.

Further details#

Since the MPM500 is often used with pneumatic grippers, you can also use the command GripperOpen instead of SetValveState(1,0), and GripperClose instead of SetValveState(0,1). However, note that these commands do not have the same effect on blending (see Section 2.3.3).

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.]

  • [1006][The robot is not homed.]

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

Cyclic protocols#

In cyclic protocols, the SetValveState command is represented by MotionCommandID 30. See Section 4.2 for more details.