WEISS WAS.handling - Page 50

47 WAS.handling Windows – Program
Structure of Place sequence:
Command Option Description
Move to Pos abs axis Y 4 Drive to position 4.
Move to Pos abs axis Z 2 Drive to position 2.
Output A1 = OFF --- Open gripper.
Wait Input2 = OFF (msec) 500 Input “Gripper closed“ must switch to LOW.
Wait Input1 = ON (msec) 500 Input “Gripper open“ must switch to HIGH.
Move to Pos abs axis Z 4 Drive to position 4.
Move to Pos abs axis Y 3 Drive to position 3.
END --- Terminate sequence.
Structure of sequence for Basic position drive:
Command Option Description
Move to Pos abs axis Z 3 Drive lifting axis to position 3.
Move to Pos abs axis Y 3 Drive horizontal axis to position 3.
Wait Input2 = OFF (msec) 500 Input “Gripper closed“ must switch to LOW.
Wait Input1 = ON (msec) 500 Input “Gripper open“ must switch to HIGH.
END --- Terminate sequence.
After entering the commands, transfer the sequence to the target system by pressing the PC

 PLC
button.
Before starting the Pick or Place Sequence, check via output “Cam 1", whether the axes are in the basic
position.
The sequences can be tested using the I/O Monitor with Force-Inputs.