Operation and Control System
A: R82GB0FA.PMD
B: R82DE0FA.P65
E: 080403 / T. Weiß
G: 200103 / TCS
Section 5.5
Page 15
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V1 monit. OFF
G2 monit. OFF
Part monitor OFF.
V1 If BLOUT L1
G2 If OPEN L1
System jumps to Label 1 at the blowing out
point.
System jumps to Label 1 when the gripper is
open.
V1 If VACUUM L1
G2 If CLOSE L1
The system jumps to Label 1 at the vacuum
suction point.
System jumps to Label 1 when the gripper is
closed.
V1 If Monit. =1L1
G2 If Monit. =0 L1
If the part or vacuum monitor is set to the logic
value “”0”” or ””1””, the system jumps to Label 1.
Robot (ROB)
x 0050.00
Move to absolute axis position
x Rel 0100.00
Move to relative axis position
y P 350.00 100.00
Absolute axis position with parallel value
Position 1: End point
Position 2: Command in next command line
xStp 0100.00
X-axis stack stop at 100.00
The selected axis moves to the target position. If
the stack stop signal "logic 1" is activated during
this movement, the axis remains in this position
(should the axis move beyond this position
whilst running at high speeds, the system then
returns to the stack stop position).
The digital input for the stack stop is wired at
Terminal 8 on Terminal box 2 (refer to 5.3.4 and
the circuit diagrams on pages 21 and 51). The
signal is sent from here to Trigger input 1 (21X8)
PIN 1 on the ACOPOS.
z v=100% a=100%
Specify axis speed and acceleration
C ---
Pneumatic axis in basic position
C P ---
Pneumatic axis in parallel basic position
C P +++
Pneumatic axis in parallel end position
C +++
Pneumatic axis in end position
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