Contents
A: R104GBI3C.PMD
B: R104DEI3C.PMD
E: 140404 / TCS
G: 150404 / T. Wenger
Section - I
Page 1
0 Forward
UNILOG B4 control system
Operation and Control System
Screen functions
Menus
Screen functions
1 Menu pages - General
General menu pages - General
Language / Date and Time
Job data
Print
Data Manager
2 Status pages
Robot status
Position variable status page
User Variable Status page
Pneumatic axes status
Gripper status
IMM status
Periphery status
PAL status
3 Program editor
Program editor
4 Inserting a token command
(Axis command)
Inserting a
token command
Robot (ROB) token
commands
3D commands
Selecting axis movements with
position variables
Position variable selection list
Using position variables
Commands for pneumatic axis
movements
5 Gripper and IMM commands
Gripper (GRP) token
commands
Activate gripper function
Monitoring
IMM interface token commands
Signals from the IMM to the
robot system
6 PCS - Commands
Description of SPS commands
Creating a User variable
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