Tip Alignment Manual
Rev C.
– June, 2015
Part Number: TA9000N
Fisnar Inc. | 19C Chapin Rd. Ste. 307, Pine Brook, NJ 07058 | T: (973) 646-5044 |
- Page 16 -
1.7 Robot PLC Programming
Once your external device is setup, a small PLC program must be written to activate
the external input. The robot will receive a signal from the external device and
by manually setting Input 5 using the robot PLC, the Tip Alignment Module will run.
LD X5
OUT H52
END
To create a PLC File, following the following steps.
Instruction
Display Shows
1
Turn On the controller and set it in Run Mode.
PROG:00 AUTO
Press Move Key
Cycle Counter: 0
AU/ST PLC Clear Mode
2
Select
Mode
by pressing the
Mode/Menu 2
key.
-------------------
Press Home Key
To Find Origin
-------------------
3
Press the Home/-/R key. The robot will move to the
home position.
ADDR:0 PROG:00
EMPTY
X:0 Y:0
Z:0 R:0
4
Press
Menu 1
key, then press
PgDn
key three times,
to go to page 4 of the menu. Finally, press the numeric
key
1
(for: PLC File Edit).
PLC FILE NO [ ]
5
Press any numeric key from 0 to 9, for example 1, and
press the
ENT
key.
ADDR:0 PLC_1 i
EDIT GROUP PGDEL
6
Select EDIT by pressing the
F1/Setup
key.
ADDR:0 PLC_1 i
PROG CTRL MV DMV
