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67 CHAPTER 6: MOTION CONTROL About this Chapter This chapter provides instructions for manually controlling the VPrep and setting teachpoints. The controls on the I/O tab enable observation and troubleshooting of the digital sensors and actuators in the VPrep. The controls on the Jog/Teach tab allow the VPrep to move through its four axes of motion and to check and set the teachpoints associated with each shelf. Actuate Shelves and Accessories: I/O Tab The I/O (Input/Output) tab of the PrepWorks Diagnostics enables the user to see the states of the various digital inputs as well as to drive the states of the digital output (see Figure 46). Shelf Devices Other Sensors Inputs Shelf in position sensors Shelf out position sensors Shelf vacuum sensors W axis home Motor 1 home Motor 2 home Z axis home Tip box present Outputs Shelf in/out actuators Shelf vacuum valves Tip box press Z-motor brake
