Abicor Binzel ATS-Rotor Mode D'emploi page 29

5. Change-over procedure in the operating modes:
MOD 1 = programmed change-over
When carrying out a change-over procedure
during commissioning, any of the registered torch
necks can be selected.
Should a torch position, which is recorded as a
tooled torch position be empty, i.e. when removing
a torch by hand, the ATS-ROTOR recognizes this
status and sends out an error message.
Attention!
As the robot is situated in the change-over
station in this case, it must be moved
back. The clamping jaws of the change-
over station are opened after the receipt
of an error signal, it is therefore possible
to proceed manually.
The change-over process starts with the torch en-
tering the change-over station up to a distance of
0.5 mm between the surface x of the torch and the
surface y of the station itself (figure 4a). When in
the correct position, the signal from proximity
switch S2 (corresponds to LED X2 on the control)
will be set (please refer to the service plan, figure 5).
After positioning the torch correctly in the ATS-
ROTOR, the start signal START = 1 must be set.
Subsequently, the signals OUT 1 and OUT 2 of the
rotor are set to 0. These signals are interrogated
via a robot handshake.
By resetting the signal START = 0, the change-over
of the torch neck is carried out. After successful
change-over the signal OUT 1 is set and the signal
OUT 2 is reset. Both signals must be interrogated at
the robot before the robot can exit the change-over
station.
The time for setting the signal START = 1 of the
robot, the processing of the torch neck change-over
and the leaving of the change-over station cannot
exceed 90 seconds, as an error message will be
sent.
This is also to be considered when teach-
ing the robot.
MOD 2 = cyclic change-over
As for the change-over procedure, the rotor auto-
matically moves to the next torch position, which is
registered as being tooled.
Should a torch position, which is recorded as a
tooled torch position, be empty, i.e. when re-
moving a torch by hand, the ATS-ROTOR recogni-
zes this status and automatically exchanges with
the next available torch neck.
Attention!
These is only carried out as long as un-
used necks are available, failing this an
error message is given after 90 seconds.
As the robot is situated in the change-over
station in this case, it must be moved
back. The clamping jaws of the change-
over station are opened after the receipt
of an error signal, it is therefore possible
to proceed manually.
The change-over process starts with the torch en-
tering the change-over station up to a distance of
0.5 mm between the surface x of the torch and the
surface y of the station itself (figure 4a). When in
the correct position, the signal from proximity
switch S2 (corresponds to LED X2 on the control)
will be set (please refer to the service plan, figure 5).
After positioning the torch correctly in the ATS-
ROTOR, the start signal START = 1 must be set.
Subsequently, the signals OUT 1 and OUT 2 of the
rotor are set to 0. These signals are interrogated
via a robot handshake.
By resetting the signal START = 0, the change-over
of the torch neck is carried out. After successful
change-over the signal OUT 1 is set and the signal
OUT 2 is reset. Both signals must be interrogated at
the robot before the robot can exit the change-over
station.
The time for setting the signal START = 1 of the
robot, the processing of the torch neck change-over
and the leaving of the change-over station cannot
exceed 90 seconds, as an error message will be
sent.
This is also to be considered for teaching
the robot.
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