2.9.4. Sample program
2.9.4. Sample program
Disconnection/connection program | Meaning of command | Note |
| Direction of signal |
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Step B | .... | (Location of welding gun disconnection) |
| ROBOT |
| ATC |
| GUNCHNG OFF | Execute welding gun disconnection |
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| Output welding gun disconnection | Private output |
| → |
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| DO11=1 | Output ATC cam open |
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| → |
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| WAIT DI11 | Confirm ATC cam open complete | Confirm the signal |
| ← |
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| MOVE L, ... | I |
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| MOVE L, ... | Move robot |
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| MOVE L, ... | I |
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Step K |
| (Location of welding gun connection) |
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| WAIT DI12 | Confirm connection possibility | Confirm the signal |
| ← |
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| DO11=0 | Output ATC cam close |
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| → |
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| GUNCHNG ON,GN=1,DI1 | Input mechanical connection complete |
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| ← |
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| Process connection of welding gun | GUNCHNG |
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| I |
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| MOVE L, ... | Move robot |
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