Programming:
Figure 9 Magazine alignment
Alignment:
The alignment of the machine is linearly coordinated to robot movement (Figure 9).
Movements are traced in a path as described by the process flow from Figure 7 and 8 which
identify the following linear steps:
1.
Check for Gun Electrode A presence (1 - cap detector)
2.
Gun Electrode A extraction (2 - extractor)
3.
Sensing electrode is absent (1 - cap detector)
4.
Replace Gun Electrode A (3 - magazine cartridge 1)
5.
Sensing Gun Electrode A is present (1 – cap detector)
6.
Check Gun Electrode B presence (1 – cap detector)
7.
Gun Electrode B extraction (2 - extractor)
8.
Sensing Gun Electrode B is absent (1 – cap detector)
9.
Replace Gun Electrode B (4 – Magazine Cartridge 2)
10.
Sensing Gun Electrode B is present (1 – cap detector)
11.
Close gun to Seat electrodes A and B
12.
Milling of Electrodes, A and B (5 Milling Tool)
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