Nachi EZ-CFDL Series, Инструкция по эксплуатации, Страница: 33 / 84

3.1 3.1 1 Setting the 1 Setting the [CLAMP / ARC] key [CLAMP / ARC] key
3.11 3.11 Setting Setting the the [CLAMP [CLAMP / / ARC] ARC] key key
Any one Any one of the of the following functions following functions can be can be set for set for
the [CLAMP/ARC] key of the hardware keys of the the [CLAMP/ARC] key of the hardware keys of the
teach pendant.
teach pendant.
(1) Function to turn specific output (1) Function to turn specific output signals signals
ON/OFF manually ON/OFF manually
(2) Spot welding function (2) Spot welding function
(3) Arc welding function
(3) Arc welding function
(4) FLEX-HAND function
(4) FLEX-HAND function
When the application is handling, an end effector When the application is handling, an end effector
such as a gripper is usually attached to the robot.
such as a gripper is usually attached to the robot.
This key can be used to open and close the gripper
This key can be used to open and close the gripper
if the signal to open and close the gripper is
if the signal to open and close the gripper is
assigned to function 1 above. Furthermore, this
assigned to function 1 above. Furthermore, this
function is also compatible with grippers that use
function is also compatible with grippers that use
double solenoids because it is possible to assign
double solenoids because it is possible to assign
two output signals and configure them to switch
two output signals and configure them to switch
the gripper ON and OFF alternatively.
the gripper ON and OFF alternatively.
Fig. 3.11.1 Fig. 3.11.1 [CLAMP/ARC] key [CLAMP/ARC] key
of the teach pendant of the teach pendant
The function of (1) and The function of (1) and its usage are described hereinafter. its usage are described hereinafter.
(Currently (Currently, (2), (3) and , (2), (3) and (4) are not available (4) are not available in the CFD controller.) in the CFD controller.)
Setting Procedure Setting Procedure
1 1
First, input R314 and select First, input R314 and select operator qualification operator qualification EXPERT EXPERT or above. or above.
2 2 Select teach mode and <Constant Setting> - [7 f-Keys]. Select teach mode and <Constant Setting> - [7 f-Keys].
>>The following f-keys menu for the >>The following f-keys menu for the teach pendant appears. teach pendant appears.
3 3 Select [5 Usage of Clamp Key] from the menu. Select [5 Usage of Clamp Key] from the menu.
>>The following setting screen appears. >>The following setting screen appears.
＋ ＋
4 4 Align the cursor with "Clamp Key" and press the [ENABLE] Align the cursor with "Clamp Key" and press the [ENABLE] and left or right and left or right
cursor keys together to align the cursor to "Output Signal". cursor keys together to align the cursor to "Output Signal".
N Nu um mb be err
5 5 Next, align the cursor to "Alloc Signal," input the number of the output signal Next, align the cursor to "Alloc Signal," input the number of the output signal
for opening and closing the gripper, and
for opening and closing the gripper, and press [Enter] key. press [Enter] key.
Two output signals can be registered. If just one signal is to be used, set "1" Two output signals can be registered. If just one signal is to be used, set "1"
only.
only.
If two signals are to be used as is the case with double solenoids, set the two
If two signals are to be used as is the case with double solenoids, set the two
signals you want to use to switch ON and OFF alternatively for "1" and "
signals you want to use to switch ON and OFF alternatively for "1" and " 2." 2."
[CLAMP/ARC] key [CLAMP/ARC] key