> For the complete documentation index, see [llms.txt](https://manual.rotrics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://manual.rotrics.com/v1.0-chinese/pick_and_place_chn/untitled.md).

# 使用气动模块基本功能

## 气动模块功能说明

### 气泵盒子状态

气泵盒子有三种工作状态，吸气、吹气、泄气，以及关闭所有气阀。

### 吸盘工作状态

吸盘有两种工作状态，拾取（吸气），放置（泄气）。每次搬运只需控制气泵吸气和泄气即可。

### 柔性爪工作状态

柔性爪有三种工作状态，夹取（吹气）、放置（吸气）、中性（泄气）。每次搬运除了控制气泵吸气和吹气之外，每次搬运动作之后，还需控制柔性爪处于中性状态。

## 使用Rotrics Studio控制气动模块基本功能

#### 1) 连接机械臂到Rotrics Studio

![](/files/-M77jIK-5kreQhAiotGl)

#### 2) 点击Basic -> Easy Control 选择对应的前端模块

![](/files/-M7B-XAGjoIZCFYr0G1y)

点击之后右侧会打开对应的Function界面

![](/files/-M7B-iRVIWVH2-ehmR6n)

#### 3) 点击Air Pick的 `Pick / Place` 或 Soft Gripper的 `Grip / Release / Neutral` 即可控制气动模块的功能

![](/files/-M7B1iLU1F3vopV8_rT0)

#### 4) 拾取物品之后，可以点击`Easy Control`中的`X±、Y±、Z±`控制机械臂运动。

![](/files/-M7B1moB2fCzPlOnfsMF)

#### 5) 完成搬运之后，记得点击`Air Pick / Softr Gripper`的`Off`关闭气泵盒，否则气泵盒会一直保持工作状态。

![](/files/-M7B22kJIE-5isxaQvLj)

## 使用触控屏控制气动模块基本功能

#### 1) 将触控屏连接到机械臂，点击`Pneumatic -> Air Pick / Soft Gripper`选择对应的气动模块

此处以Air Pick为例，Soft Gripper则对应操作。

<div align="left"><img src="/files/-M7Av1NrA5_z_Ts0YrRM" alt=""></div>

#### 2) 点击`HOME`，使机械臂运动到HOME点

<div align="left"><img src="/files/-M7AvJkwhLzS46plbOlP" alt=""></div>

#### 3) 点击X±、Y±、Z±控制机械臂运动到物品上方，使吸盘接触物品表面

<div align="left"><img src="/files/-M7AvMfQaj0Hai4HpNdC" alt=""></div>

#### 4) 点击 `Pick / Place` 控制气动模块拾取或放下物品

<div align="left"><img src="/files/-M7AvYnnqPMS0gJtdaJL" alt=""></div>

#### 5) 点击X±、Y±、Z±控制机械臂运动到目标点

#### 6) 点击`Stop`关闭气泵功能


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