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parameter 175
2
in the case of
restart with
programmed
delay
System Configuration
S900II
VI – IMM Anticipated Restart
28
01T01350_0
2.2.98
VI – IMM ANTICIPATED RESTART
"
Parameter 174 : type of IMM anticipated restart
G
0 : no anticipated restart
G
1 : anticipated restart
G
2 : programmed delay anticipated restart –> WWRD 63 programmed in step 0.
"
Parameter 175 : basic value of the auto–adaptative delay and double the minimum value of
the programmed delay
"
Parameter 176 : minimum value of the auto–adaptative delay (safety margin)
Anticipated restart effective if :
G
offset wait is not valid (parameter 451)
G
and if the robot is in automatic
G
and if Kv equals 100 %
G
and if there is a SET WWRD63 in step 0 of the program
G
and if the value of WWRD63 is greater than or equal to
VCM
VCM
programmed
BHM
Tr = WWRD 116
P176
Tm = WWRD 117
MO
Tr = robot disengaging time in 1/10 s (WWRD 116)
Tm = IMM motion start time in 1/10 s (WWRD 117)
Rt = theoretical delay = Tr – Tm + P176 or 0 if the result is negative
Rapp = Applied delay
Rapp > Rt
Rapp = 66% of (Rt – Rapp)
Rapp = Rt
yes
no
There is a fault if mould open (or OPA) goes to 0 and BHM = 0
D_5 : MOVEMENT OUTSIDE CAMS
(if there is no anticipated restart running)
D_32: PREMATURE MACHINE RESTART
(if there is an anticipated restart running)
Summary of Contents for S900II System
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