alfa robot P650 - 4 Action Description in the Standard Mode

18
4 Action Description in the Standard Mode
01：L-Trace Male
Initial State: Back
（Screw in）
Place-side zone Take-out zone
Screw in standby
Screw out standby
1
M Complete
7
M safety
1
M Complete
7
Ascend
2
Descend
8
Screw out
2
Screw in
8
Screw out
3
Reach
9
Descend
3
Descend
9
M safety
4
S/C close
10
S/C open
4
Reach
10
Descend
5
Retract
11
Ascend
5
S/C open
11
Descend
6
Ascend
12
Screw in
6
Retract
12
Ascend
02：L-Trace Female
Initial State: Forward
（Screw in）
Place-side zone Take-out zone
Screw in standby
Screw out standby
1
M Complete
7
M safety
1
M Complete
7
Ascend
2
Descend
8
Screw out
2
Screw in
8
Screw out
3
Retract
9
Descend
3
Descend
9
M safety
4
S/C close
10
S/C open
4
Retract
10
Descend
5
Reach
11
Ascend
5
S/C close
11
S/C open
6
Ascend
12
Screw in
6
Reach
12
Ascend
03：U-Trace Male
Initial State: Forward
（Screw in）
Place-side zone Take-out zone
Screw in standby
Screw out standby
1
M Complete
7
Reach
1
M Complete
7
Reach
2
Descend
8
Screw out
2
Screw in
8
Screw out
3
S/C close
9
Descend
3
Descend
9
M safety
4
Retract
10
S/C open
4
S/C close
10
Descend
5
Ascend
11
Ascend
5
Retract
11
S/C close
6
M safety
12
Screw in
6
Ascend
12
Ascend
①
②
③
④
①
⑤
①
⑥
①
⑦
①
⑧
①
⑨
①
⑩
①
⑪
⑫
④
①
⑥
①
⑦
①
⑧
①
⑨
①
⑩
⑪
⑫
①
②
③
④
①
⑤
①
⑦
①
⑧
①
⑨
①
⑩
⑪
⑫
①
②
③
⑤
①
⑥
①