A: R104GB05A.PMD
B: R104DE05A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger
Section 5
Page 12
Gripper commands
Intermediate stop, wait for Signal ON
Intermediate stop, wait for Signal ON,
2 sec Label 1
Intermediate stop, if Signal ON Label 1
Wait for the signal (logic ”0” or ”1”) from the IMM
”Tool at intermediate stop”. Once this condition
has been fulfilled the system then jumps to the
next line. It may also jump to a label.
It is also possible to use a time monitor here.
Hence if the desired condition is not fulfilled
within the specified period the system then
jumps to a label.
The IMM sets the signal to ”1” to indicate to the
robot system that the movement into the
machine can begin. This signal can be given
before the mould halves are fully opened. This
makes it possible to achieve faster removal
times.
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