Programming The Robot; Mounting The Welding Torch - Abicor Binzel Tes Montageanleitung

TES

6.6 Programming the robot

Remove the
- Holding fork empty
- No cable assembly exists
- Latching fork, down
- Fork head retracted
- Holding fork fitted
- Cable assembly exists
- Fork head extended
- Latching fork, up
- Fork head retracted
- Holding fork fitted
- Cable assembly
- Latching fork, up
- Fork head retracted
Fig. 10
6.6.1 Changing the welding torch
1 Approach the holding fork horizontally with equipped robot arm (with cable assembly and
welding torch).

6.6.2 Mounting the welding torch

1 Approach the holding fork vertically with the robot arm (with cable assembly).
MON.0015.0 • 2020-05-19
torch neck
Flow chart
Approach the
wait position
- Holding fork fitted
- No cable assembly exists
S1 = 1
S3 = 1 - Latching fork, down
N1 = 0
- Fork head retracted
N2 = 0
Approach
position in TES
- Holding fork fitted
N1 = 1
- Cable assembly exists
N2 = 1
Output
Y2 = 14
- Fork head extended
S4 = 1
Output
Y2 = 14
- Latching fork, down
S2 = 1
Output
Y2 = 12
- Fork head retracted
S3 = 1
Approach
position from
- Holding fork empty
S2 = 1
- No cable assembly
S3 = 1
exists
N1 = 0
- Latching fork, down
N2 = 1
- Fork head retracted
6 Commissioning
Mount the torch
Approach the
neck
wait position
S1 = 1
S3 = 1
N1 = 0
N2 = 1
Approach
position in TES
N1 = 1
N2 = 1
Output
Y2 = 14
S4 = 1
Output
Y2 = 14
S2 = 1
Output
Y2 = 12
S3 = 1
Approach
position from
S1 = 1
S3 = 1
N1 = 0
N2 = 0
EN - 19