4.8. Workpiece handling based on servo gun

4.8. Workpiece handling based on servo gun

 

This is for transporting small workpieces by using the servo gun, not using a separate hanger.

 

 

It can carry out the operations of holding the workpiece and opening the clamp by using the SvClamp command. The servo gun will not open if it is “on”.

 

Sample program		Command description	Remarks
STEP B	....	(Position of holding the workpiece)
	SvClamp ON	Holding the workpiece using a servo gun
STEP	MOVE L, ...	I
STEP	MOVE L, ...	Robot moves
STEP	MOVE L, ...	I
STEP K		(Position of releasing the workpiece)
	SvClamp OFF	Workpiece released
	MOVE L, ...	Robot moves