Table of contents
A: R82GBI2A.PDM
B: R82DEI2A.PDM
E: 080403 / T. Wenger
G: 020403 / TCS
Section - TC
Page 3
5.4 Unirob B2 controller
5.4.1 Manual Control Device
(MCD)
5.4.2 PCS General
5.4.3 CP476 status display
5.4.4 CAN CP476 node number
switch
5.4.5 Digital inputs and outputs
5.5 B2 Control System
Handbook
5.5.1 Manual Control Device
(MCD) – Key functions
5.5.2 Start-up display
5.5.3 Status pages
5.5.4 Teach, Edit, Save, Load,
Delete, Print programs
5.5.5 Creating token programs
5.5.5.1 Token commands: Gripper
(GRP), Robot (ROB),
Injection Moulding Device
(IMD)
5.5.5.2 PCS token commands
5.5.5.3 Token commands for additio-
nal devices
5.5.5.4 Palletising program
5.5.6 Examples of programs
5.5.7 Lock areas
5.5.8 Error messages
6 Operation
6.1 Start-up
6.2 Referencing
6.3 Manual operation
6.4 Single step mode
6.5 Automatic operation
6.6 Stopping the program
6.7 Automatic mode STOP
6.8 EMERGENCY STOP
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