3.1. Sample programs
3.1. Sample programs
Table 3.1 Examples of Usage of Servo Tool Change
Disconnection / Connection programs | Definition of the commands | Remarks |
| Signal direction |
| |
Step B | .... | (Servo tool disconnection position) |
| ROBOT |
| ATC |
| TOOLCHNG OFF,C=G1 | Servo tool disconnection execution |
|
|
|
|
| DO11=1 | ATC cam opening output |
|
| → |
|
| WAIT DI11 | ATC cam opening completion confirmation | Signal check |
| ← |
|
| MOVE L, ... | I |
|
|
|
|
| MOVE L, ... | Robot moving |
|
|
|
|
| MOVE L, ... | I |
|
|
|
|
Step K |
| (Servo tool connection position) |
|
|
|
|
| WAIT DI12 | Check whether the connection is possible | Signal check |
| ← |
|
| DO11=0 | ATC cam closing output |
|
| → |
|
| TOOLCHNG ON,C=G1,DI1 | Mechanical connection completion input |
|
| ← |
|
|
| Servo tool connection handling |
|
|
|
|
|
| i |
|
|
|
|
| MOVE L, ... | Robot moving |
|
|
|
|