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M0109-1 ver 2.2
3.5 Hints
3.5.1 Programming
The following will ensure a correct docking position.
Action
1
Attach a spare tool attachment to the tool changer.
2
Position the spare tool attachment above the tool attachment that is mounted on the
tool.
3
The correct position is found when the tool attachments are parallel, centered and
the engraved arrows are on the same line.
4
Save the position. The robot can move to this position with high speed.
5
Dismount the spare tool attachment.
6
Go back to the saved position and move the tool changer (in axis 6 direction) the
remaining distance to the tool attachment (mounted on the tool).
7
Save the position. The robot should move the final distance to this position with low
speed.
3.5.2 Sparking
WARNING!
Electrical signals and power must be switched off and disconnected
when docking the tool attachment. This is to prevent sparking between signal pins
and tool attachment.
3.5.3 Electrical installation
Connection kits for the tool changer and tool attachment are available (see
section 2.2.6).
3.5.4 Tool stand
NOTE!
To guarantee reliability and a long service-life for the tool changer, the tool
stand must be stable, both in terms of its design and attachment.
NOTE!
The tool stand must not be spring-loaded!
See section 2.2.3 for suitable tool stand equipment.
3.5.5 Tool Identification
Jumpers on signals at the tool attachment can be used to give information about
which tool attachment that is docked in the tool changer.
