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M0720-1 ver 3.4
Signal logic for leaving a tool in the tool stand
o
Opening of tool changer should only be possible when tool is positioned in tool stand. A
switch or sensor mounted at the tool stand should give a signal that allows the tool
changer to open.
o
Set signals “doOpen TC 1” and “doOpen TC 2” high, when the tool attachment is
positioned in the tool stand.
o
When signal “TC Opened” is high, the tool changer is opened and can start to move.
o
When the opened tool changer has been lifted 10mm, the signal from the switch or
sensor mounted at the tool stand should be checked to confirm that the tool remains in
the tool stand.
Move the robot to the tool stand position
Is robot in position in tool stand?
Is “tool in stand” signal high?
Set “doOpen TC 1” and “doOpen TC 2” to high
Is “TC Opened” high and “TC Closed” low”?
Move robot up 10 mm
Is tool stand switch signals correct?
Continue work cycle
Functional test
For controlling that the tool change valves and the integrated locking spring are functioning
following tests should be made regularly:
o
With the tool changer in opened position:
Set “doOpen TC 2” to low and let “doOpen TC 1” remain high.
The signal “TC Closed” will become high.
o
With the tool changer in opened position:
Let
“doOpen TC 2” remain high and set “doOpen TC 1” to low.
The signal “TC Closed” will become high.
Breaking conditions
o
If signal “TC Closed” disappears when tool attachment is in tool changer, the robot
should be stopped.
o
If signal “TC Opened” disappears, when tool changer is going to pick up the tool
attachment, the robot should be stopped.
o
If signal “TC Opened” is high at the same time as “TC Closed” is high, the robot should
be stopped.
Summary of Contents for M0720-1
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