10.5.7.1. PAINT
10.5.7.1. PAINT
PAINT statement is for generating output signals for the set painting gun.
Explanation | Turns on or off the painting gun. (Turns on or off the painting output signal) | |
Syntax | PAINT <Gun number>=<Gun On/Off> PAINT < Gun number>=<>=<Gun On/Off>, ANT=<Earlier/Delayed Spary> | |
Parameter | Gun number | G1 : Gun1 G2 : Gun 2 |
GunOn/Off | 1: On 0: Off | |
Earlier/delayed spray | “<0”: Earlier spray as much as the absolute value “>0”: Delayed spray as much as the absolute value | |
Example | PAINT G2=1, ANT=-0.5 PAINT G2=0 |
S1 S2
S3 S4 S5 S6
S7 | MOVE P,S=80%,A=3,T=0 MOVE P,S=60%,A=1,T=0 PAINT G1=1,ANT=-0.5 ‘Gun 1 spray start (0.5 seconds earlier) MOVE L,S=300mm/s,A=1,T=0 MOVE L,S=300mm/s,A=1,T=0 MOVE L,S=300mm/s,A=1,T=0 MOVE L,S=300mm/s,A=1,T=0 PAINT G1=0,ANT=-0.5 ‘Gun 1 spray end (0.5 seconds earlier) MOVE P,S=60%,A=1,T=0 |
For example, in the above case, the paint output signal will be turned on when the robot tool end passes through the S2 position and turned off when passing through the S6 position. After the Paint command is executed, it will take a little bit of time before paint is actually sprayed. Thus, the paint output signal should be outputted much earlier than the delay in order to allow the paint to form on correct position. Accordingly, it is required to allow signals to be outputted earlier by setting a proper negative value in the ANT parameter.