Abicor Binzel BRS-FP Betriebsanleitung Seite 43

BRS-FP/BRS-FPi
6.7.3 Programming approach the clamping position
NOTICE
• Ensure that the direction of the reamer axis is in the cylindrical part of the gas nozzle.
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. This is the only
way to ensure a defined cut.
 Fig. 15 Flow chart on page EN-27
Exact robot programming is required to prevent reaction forces from being 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.
B
A Move to the clamping position
Fig. 10 Robot programming
1 Move the robot to waiting position A.
2 Wait for the "READY" signal from BRS-FP/BRS-FPi.
3 When "READY = 1", insert the torch into the clamping device 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 Robot gives the start signal. The reamer holder closes and the pneumatic motor starts to turn. The stationary locating jaws
lie evenly against the cylindrical part of the gas nozzle. The torch and reamer axes are coaxial.
Once the robot issues the start signal, the "READY" signal is set to "0".
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
• Ready = 1 is set after cleaning is successfully finished.
If a cleaning cycle is canceled 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.
BAL.0028.0 • 2021-01-19
A
B Clamping position
6 Commissioning
EN - 17