You can position the tool in as many as four positions from the MANUAL FUNCTION Four Position screen.
You can specify the tool frames to be used for each tool position. In addition, you can specify whether to wait for the tool to change its position before moving to the next position, and the amount of time to wait.
Table 1, " Four Position Tool Setup Items " lists and describes the items you can set up.
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. |