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11. Robot Language Explanation
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Introduction
It is a function to measure the abrasion amount of tip.
Gun search 1 is to use for measurement the total abrasion amount of tip and Gun search
2 is for measurement the abrasion amount of moving tip. The abrasion amount of fixed tip can
be calculated by subtracting the abrasion amount of fixed tip from total abrasion amount.
Note
(1) Record servo gun axis parameter and the base position of gun search before measuring
abrasion amount.
(2) Turn on Application → 7. Gun search base position Recording for base position
recording of gun search. The measurement data is not abrasion value but basic value to measure.
(3) Gun search 2 must follow gun search 1.
(4) Proceed at the position where gun is open, when recording gun search function,
11.3.14 TIERST Command
Introduction
It is a function to put in a insert sheet when palletizing. This function is executed
when the condition to put in a insert sheet is met.
Note
(1) An sheet insertion program must be fixed up before using this function.
(2) Make sure that the information to put in a insert sheet for a pattern register is correct.
Wrong information can cause collision.
(3) This function must be between PAL and PALEND.
(4) This function can be used before palletizing or depalletizing the initial workpiece.
The basic position of sheet insertion is the lower of first level when palletizing and the
upper of maximum level when depalletizing.
Description Call program to put in a insert sheet (M94)
Syntax
TIERST R=<Register No>,P=<Pallet No>,PR=<Pattern Register
No>,TP=<Insert sheet Program>
Register No On line shift register number 1∼8
Pallet No Pallet number 1∼16
Pattern
Register NO
Palletizing pattern register number 1∼16
Parameter
Insert
sheet
Insert sheet program number 1∼999
Example TIERST R=1,P=4,PR=2,TP=800