Conair S900II System Technical Information PDF herunterladen (Seite 53)

Programming S900–II Level 1

Version 2.2 |–>

IV – Programming instructions

01T01527_2

25.5.00

IV – 4. 5. MASTER : Master movement (Temporary)

This function enables a program step to be sub–divided into “sub–steps” separated by control points

that can be controlled or triggered by numerical actions or movements.

Syntax :

MASTER

<– master movement axis

<– master movement destination

<– trigger point on master movement (as from ...)

<– triggered instruction (... to be done)

ABS

operand

CTL

operand

Here is an example of the robot arm accessing the mould, where the advance is triggered during the

descent.

Step 3

MASTER Z Master movement

Z.ABS. 700 its destination

Z.CTL. 550 as from Z = 550

Y.ABS 500 move Y to 500

Step 4

...

Moving

mould

Fixed

mould

Y = 200 Z = 100

Z = 550

Y = 500

Z = 700

Stopping point

avoided by using the

MASTER instruction

Arrival point

Starting point

Several trigger points are possible in a MASTER instruction.

Example of the arm exiting the mould with the ejectors moving back and the arm moving up and back

at the same time.

Step 5

MASTER Y Master movement

Y.ABS. 200 its destination

Y.CTL 400 as from Y = 400

Ejectors in

Stop validation ejectors out

Y.CTL 300 as from Y = 300

Z.ABS 100 move Z to 100

Step 6

Y = 200 Z = 100

Z = 550

Y = 400

Y = 500

Z = 700

Ejectors

to be

done

Y = 300

Moving

mould

Fixed

mould

The coherence of the trigger points (sequential order as well as the position compared to the starting

point and the arrival point) is monitored by the software. If they are incoherent, the fault D_63: $

–MVT TO BE MADE OUTSIDE LIMITS appears on the screen.

V 1.3 robot

V 0.5 PC Editor

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Conair S900II System Technical Information Seite 53

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