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4.1. Conditions of automatic operation

4.1. Conditions of automatic operation​

 

1)   This is a sample structure of the PAINT command. It will be convenient to set the painting section in mm/s or sec, which enables speed estimation.

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

 

2)   In the manual mode, check the robot path in advance by carrying out step forward/reverse. As mentioned in the PAINT command section, the PAINT command is not executed in the manual mode. In the manual mode, you may check the path at the recorded speed if you press the [SHIFT] key and the step forward/reverse key at the same time.

3)   Select a desired movement cycle. In “[F7]: Condition Setting” → “1: Movement Cycle,” select either “1 cycle” or “Repeat.” For checking operation, the optimal setting is “1 cycle.”

4)   If you have selected “Repeat” as the movement cycle, execute the END command, and set again the time delay between Step 0 and the execution. Set the delay time in “[F2]: System” → “2: Control Parameter” → “1: Control Configuration” → “2: END Relay Output Time.”

5)   The mode switch of the teach pendant should be set to “Automatic” or “Remote.” In the remote mode, you should set the automatic mode from outside. Set the input assignment signal in "[F2]: System → "2: Control Parameter" → "2: I/O Signal Assignment" → "3: Input Signal Assignment" to enable switching on of the assignment signals from the outside.

6)   If you use an embedded PLC, you should set RUN at “3: Embedded PLC Mode” in “[F7]: Condition Setting” → “[F1]: Application Condition.”

7)   Check the Atom/Spray output signals, sequence setting, and electric solenoid valve for paint output.

 

8)   For outputting paint through execution of the PAINT command, the GUN LED on the teach pendant should be switched on. If you want to control the GUN LED from the outside, set the “[GUN] key setting” input assignment signal by referring to Section 3.3.

9)   The GUN key of the teach pendant can only be switched on/off in the automatic mode. The GUN LED is automatically switched off when the manual mode is selected, and on when the automatic mode is selected.

10)  During automatic operation, the GUN key of the teach pendant cannot be manipulated in the painting section. In addition, even when an external GUN key input signal is given, it is applied outside the painting section.