Abicor Binzel TCS-FP, Руководство по эксплуатации

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TCS-FP 6 Commissioning
BAL.0713.0 • 2019-02-11
EN - 21
6.6.7 Robot programming to approach the clamping position
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Fig. 15 TCS-FP microcontroller PCB on page EN-22
An exact robot programming is required to avoid that reaction forces are transmitted over the torch to the robot axes when
clamping the gas nozzle. Reaction forces could possibly result in error messages or axis disconnections. Save the following
approach positions in the robot program.
1 Move the robot to waiting position A .
2 Wait for the "READY" signal from TCS-FP.
3 When "READY"=1, insert the torch into the reamer holder B . In this position, there is still some distance between the gas
nozzle and the stationary locating jaws. The torch's position and alignment are already identical to the subsequent
clamping position.
4 The robot gives the start signal, the reamer holder closes, and the pneumatic motor begins to rotate. The stationary
locating jaws lie evenly against the cylindrical part of the gas nozzle. The torch and reamer axes are coaxial.
This position is the same as the position that is required in order to set up the pneumatic motor in its final position.
5 After cleaning is finished, Ready=1 is reset. The stroke carriage is positioned at the bottom, the pneumatic motor is idle,
and the clamping jaws are open again.
NOTICE
• Use only clamping jaws and reamers adjusted to the gas nozzle diameter.
• The clamping position in the direction of the reamer axis should be in the cylindrical part of the gas nozzle.
Note that the clamping position can vary depending on the gas nozzle type.
• Before inserting the welding torch into the torch cleaning station, a piece of wire must be fed forward to ensure a
defined cut.
A Move to the clamping position B Clamping position
Fig. 14 Robot programming
NOTICE
• Ready=1 is set after cleaning is successfully finished.
If a cleaning cycle is cancelled because of an error, Ready=0 remains.
If the cleaning station is in basic position, a new cleaning cycle can be started by resetting the start signal.
A
B