alfa robot P650 - Page 73

19
04：U-Trace Female
Initial State: Back
（Screw in）
Place-side zone Take-out zone
Screw in standby
Screw out standby
1
M Complete
7
Screw out
1
M Complete
7
Ascend
2
Descend
8
Descend
2
Screw in
8
Screw out
3
S/C close
9
S/C open
3
Retract
9
M safety
4
Reach
10
Ascend
4
Descend
10
Descend
5
Ascend
11
Screw in
5
S/C close
11
S/C close
6
M safety
12
Retract
6
Reach
12
Ascend
05： Second Male S&C
Initial State: Back
（Screw in）
Place-side zone Take-out zone
Screw in standby
Screw out standby
1
M Complete
9
Descend
1
M Complete
9
M safety
2
Descend
10
S open
2
Screw in
10
Descend
3
Reach
11
Descend
3
Descend
11
S open
4
S/C close
12
Descend
4
Reach
12
Ascend
5
Retract
13
C open
5
S/C close
13
Descend
6
Ascend
14
Ascend
6
Retract
14
C open
7
M safety
15
Screw in
7
Ascend
15
Ascend
8
Screw out
8
Screw out
06： Second Female S&C
Initial State: Forward
（Screw in）
Place-side zone Take-out zone
Screw in standby
Screw out standby
1
M Complete
9
Descend
1
M Complete
9
M safety
2
Descend
10
S open
2
Screw in
10
Descend
3
Retract
11
Descend
3
Descend
11
S open
4
S/C close
12
Descend
4
Retract
12
Ascend
5
Reach
13
C open
5
S/C close
13
Descend
6
Ascend
14
Ascend
6
Reach
14
C open
7
M safety
15
Screw in
7
Ascend
15
Ascend
8
Screw out
8
Screw out
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