Fixtures clamp <CLAMP>

Use <CLAMP> command to control part fixture devices (such as chucks, vices, collets, etc.) in the pick-and-place, takeover operations.

Command: CLAMP ID(N), ON(71)|OFF(72) DIR(N)

Parameters:

Parameter	CLD array	Description
ID	CLD[1]	Unique identifier of the clamping device you need to switch. Depend on the equipment settings inside a CAM project.
IsOn	CLD[2]	New state of the clamping device: 71 - clamp is on, the workpiece is fixed in the clamping device. 72 - clamp is off. the workpiece is released.
Dir	CLD[3]	Clamping direction (-1; 0; +1) - direction of the clamping jaw movement (sign of jaw axis coordinate change).

Here is a simple example of programs handlers for this command.

program Clamp

if CLD[2] = 72 then begin

call OutPause(1)

if CLD[1] = 2 then begin

Mchuck = 111; Mchuck@ = Maxreal

Formblock

Outstr$ = Outstr$ + " (OTKRYT-PROTIVOSHPINDEL)"

Output Outstr$

Formblock

Outstr$ = Outstr$ + " M114 (AIR ON)"

Output Outstr$

call OutPause(1)

Formblock

Outstr$ = Outstr$ + " M115 (AIR OFF)"

Output Outstr$

end else begin

Mchuck = 11; Mchuck@ = Maxreal

Formblock

Outstr$ = Outstr$ + " (OTKRYT-GLAVNYi SHPINDEL)"

Output Outstr$

Formblock

Outstr$ = Outstr$ + " M14 (AIR ON)"

Output Outstr$

call OutPause(1)

Formblock

Outstr$ = Outstr$ + " M15 (AIR OFF)"

Output Outstr$

end

end else begin

if CLD[1] = 2 then begin

Mchuck = 110; Mchuck@ = Maxreal

Formblock

Outstr$ = Outstr$ + "(ZAKRIT-PROTIVOSHPINDEL)"

end else begin

Mchuck = 10; Mchuck@ = Maxreal

Formblock

Outstr$ = Outstr$ + "(ZAKRIT-GLAVNIY SHPINDEL)"

end

Output Outstr$

call OutPause(1)

end