Motoman XRC 2001, Operator'S Manual

Page: 360 / 387

13.3 Stroke Change Control Method
13-9
13.3
Stroke Change Control Method
13.3.1
Single gun, C double gun, X double cylinder gun
When OPEN (SHORT) is specified, change the stroke change signal (general output) to short
open; when FULL OPEN (LONG) is specified, change the stroke change 1 signal (general
output) to full open. However, the stroke change signal ON/OFF characteristics depend on
the AP parameter setting.
13.3.2
X Double Mechanical Stopper Type
Stroke change signal (output) is output with double solenoid specifications. The stroke
change signal ON/OFF characteristics depend on the AP parameter setting.
n
When OPEN (SHORT) is specified
Process Timing
C double gun, X double cylinder gun with double solenoid specifications
Set signal numbers for stroke change 1 and 2 in the spot I/O allocation information display.
The inverse signal of stroke change 1 is output as stroke change 2 signal.
S U P P L E -
M E N T
S t r o k e C h a n g e
R e s p o n s e T i m e
X
X
Signal Control Order
‚
ƒ
•
M a n i p u l a t o r M o v e m e n t
Pressure Instruction
(Output)
S t r o k e C h a n g e 1
(Output)
„
ƒ
S t r o k e C h a n g e 2
(Output)
G u n P r e s s u r e
Detection (Input)
G u n S h o r t O p e n
Detection (Input)
G u n F u l l O p e n
Detection (Input)
Stopper Type Stroke
C h a n g e O u t p u t T i m e
Stopper Type Stroke Short Open
Output Delay Time (when pressure
detection OFF)
Manipulator moves immediately without detecting
when short open detection is OFF.
When pressure detection is OFF, stroke is changed
after elapse of stopper type stroke short open output
delay time.