Binzel Abicor BRS-FP Mode D'emploi page 44

6 Commissioning
6.5.4 Robot programming to approach the clamping position
 Fig. 9 Flow chart on page EN-17
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.
A
Fig. 13
1 Move the robot to waiting position A.
 Fig. 13 Robot programming on page EN-20 (A)
2 Wait for the "READY" signal from BRS-FP/BRS-FPi.
3 When "READY"=1, insert the torch into the reamer holder 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.
This position is the same as the position that is required in order to set up the pneumatic motor in its final
position.
EN - 20
Move to the clamping position
Robot programming
A
B
B Clamping position
BAL.0028 • 2017-03-10
BRS-FP/BRS-FPi