TOOL SETUP FOUR POSITION SCREEN


TOOL SETUP FOUR POSITION SCREEN

You can position the tool in as many as four positions from the MANUAL FUNCTION Four Position screen.

Table 1.  Four Position Tool Setup Items

ITEM DESCRIPTION

Wait for position change

This item specifies whether to wait until the tool has finished changing position before moving the robot to the next position. If DISABLED , the Four Position EOAT macro commands will set the output to move the tool and then continue without waiting for the tool to move into position before continuing robot motion. If ENABLED , the Four Position EOAT macro commands will wait up to the timeout value specified in Time to wait for the tool to complete the change in position before continuing robot motion. If the tool has not changed position within the timeout value entered, an error message will be displayed and robot motion will be paused.

Time to wait

min: 0 ms

default: 2000 ms

max: 99999 ms

This item specifies the timeout period that the Four Position EOAT macro commands will wait for a position changed in the Wait for position change item is ENABLED. Time to wait has no effect if the Wait for position change item is DISABLED.

UTOOL for Unflip Retract

min: 1

default: 1

max: 5

When the UNFLIP RETRACT macro command is called, the robot will change to the specified tool frame number.

UTOOL for Flip Retract

min: 1

default: 2

max: 5

When the FLIP RETRACT macro command is called, the robot will change to the specified tool frame number.

UTOOL for Unflip Extend

min: 1

default: 3

max: 5

When the UNFLIP EXTEND macro command is called, the robot will change to the specified tool frame number.

UTOOL for Flip Extend

min: 1

default: 4

max: 5

When the FLIP EXTEND macro command is called, the robot will change to the specified tool frame number.