3.2. Painting commands

PAINT syntax

Description	This controls the painting gun output signal used for supplying paint. (It will turn on/off the Atom/Spray output signal.)
Grammar	§ PAINT <Gun_number>=<Gun_On/Off> § PAINT <Gun_number>=<Gun_On/Off>, ANT=<Advance/Delay>
Parameters	Gun number	G1: Gun 1 G2: Gun 2
	Gun_On/Off	1: On 0: Off
	Advance/Delay	'<0': Advanced by the absolute value '>0': Delayed by the absolute value
Example	§ PAINT G2=1, ANT=-0.5 § PAINT G2=0

SELBRUSH syntax

Description	This outputs the number designated as a “Brush number” assignment signal group. Also, it indicates the number of brushes to be applied to the painting device. By adding an OX, OY, or OZ factor, you can designate the correct position in the absolute coordinate at which the brush should be replaced
Grammar	§ SELBRUSH <Brush_no> § SELBRUSH <Brush_no>, OX=<Cartesian_X_coordinate> § SELBRUSH <Brush_no>, OY=<Cartesian_Y_coordinate> § SELBRUSH <Brush_no>, OZ=<Cartesian_Z_coordinate>
Parameters	Brush_no	0–255
	OX	X, Y, or Z value in absolute coordinate at which the brush should be replaced with another. (-3,000 mm – 3,000 mm)
Example	§ SELBRUSH13, OY=500 'Replace the brush with Brush 13 when the Y position of the tool tip is at 500 mm. § SELBRUSH8 'Replace the brush with Brush 8.

< Example of the painting work program >

SELBRUSH 1 'Apply Brush 1.

S1 MOVE P,S=80%,A=3,T=0

S2 MOVE P,S=60%,A=1,T=0

PAINT G1=1,ANT=-0.5 'Gun_1 ON (start) (0.5 second advanced)

S3 MOVE L,S=300mm/s,A=1,T=0

S4 MOVE L,S=300mm/s,A=1,T=0

S5 MOVE L,S=300mm/s,A=1,T=0

SELBRUSH 9 'Apply Brush 9 (painting finishing stage)

S6 MOVE L,S=300mm/s,A=1,T=0

PAINT G1=0,ANT=-0.5 'Gun_1 Off (finish) (0.5 second advanced)

S7 MOVE P,S=60%,A=1,T=0

1) In the above program sample, the painting output signal (Atom/Spray) will be turned on when the robot tool tip passes through Position S2, and the signal will be turned off when the tool tip passes through Position S6.

2) As a short time is taken after the execution of the PAINT command and before the actual ejection of the paint, the painting output signal should be advanced or delayed, taking into consideration the appropriate position of the painting gun for setting the correct position of the paint film formation. You can advance or delay the signal by setting a negative or a positive value in the ANT parameter.

When executing the PAINT command, the following conditions should be met for outputting signals relating to painting:

§ The PAINT command can only be executed in the automatic mode or the remote automatic mode.

§ For executing the PAINT command, the gun key state LED should be switched on. See Section 4.1 Conditions of automatic operation.

§ This sets the Atom/Spray output signal and its sequence. For the sequence and assignment of the output signal, see Section 3.4.

3.2. Painting commands​

3.2. Painting commands