Robot Programming To Approach The Clamping Position En - Binzel BRS-FP Instructivo De Servicio

6 Putting into operation
6.4.4 Robot programming to approach the clamping position
 Fig. 8 Flow chart on page EN-15
Precise robot programming is essential to ensure that clamping of the gas nozzle does not cause any stress
to be transferred to the robot axes via the torch, which could possibly result in error messages or axis
disconnections. Save the following approach positions in the robot program.
1
Fig. 12
1 Move the robot to waiting position A.
 Fig. 12 Robot programming on page EN-18 (1)
2 Wait for the "READY" signal from BRS-FP.
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 Linear movement into clamping position C.
 Fig. 12 Robot programming on page EN-18 (2)
5 The cylindrical part of the gas nozzle rests uniformly on both stationary locating jaws, and the torch and
milling cutter axes are now arranged coaxially with one another.
This position is the same as the position that is required in order to set up the pneumatic motor in its final
position.
EN - 18
A
B
Move to the clamping position
Robot programming
C
2 Clamping position
BRS-FP