CONFIGURE GRIPPER


CONFIGURE DEFAULT APPLICATION

Procedure 1.  Selecting and Configuring the Handling Config at Controlled Start

Steps

  1. Perform a Controlled start.

    1. If the controller is turned on, press FCTN, select CYCLE POWER, press ENTER, and select YES. If the controller is turned off, turn the power disconnect circuit breaker to ON.

    2. Immediately press and hold, PREV and NEXT keys on the teach pendant, and turn the power disconnect circuit breaker to ON. When power is cycled, the second line on the pendant should display “Boot system activating...” in reverse video. You can then release the PREV and NEXT keys.

      You will see a screen similar to the following.

      ---------- CONFIGURATION MENU ----------
      1 Hot start
      2 Cold start
      3 Controlled start
      4 Maintenance
      Select >
      
    3. Select Controlled start and press ENTER. You will see a screen similar to the following.

      SPOT CONFIG             CONTROLLED START MENUS
                                              1/50
       1 F Number:                       F00000 >
       2 Load Spottool Macros:           DISABLED
       3 Number of equipments:           1
       4 Number of weld controllers:     1
       5 Current equipment, gun          1, 1
       6   Weld interface:               DIGITAL
       7   Number of guns:               1
       8   Studwelder:                   DISABLED
       9     Enable Backup gun:          DISABLED
      10  Tool changer gun:              DISABLED
      11  Soft touch gun:                DISABLED
      Press FCTN then START (COLD) when done
      

  2. Select the application:

    1. Press MENU.

    2. Select Handling Config. You will see a screen similar to the following.

      Appl selection CONTROLLED START MENUS  1/3
      1 Spot Weld                       TRUE
      2 Handling                        FALSE
      3 Dispense                        FALSE
      

    3. Move the cursor to Handling and press F4, TRUE.To disable an application, press F5, FALSE.

      Note

      If you have the Multiple Application option in SpotTool+, you can enable up to three loaded applications on the controller.

      Note

      After you have enabled an application, you can use the enabled application instructions in a teach pendant program.

  3. Configure the Handling application:

    1. Press MENU.

    2. Select Handling Config. You will see a screen similar to the following.

      Handling Signals          CTRL START MENU
      1 Number of MH Tools:               1  <--See NOTE
      2 Number of Valves per Tool         4  <--See NOTE
      3 Number of Clamp Inputs:             34
      4 Number of Part Present Inputs:      12
      5 Number of Vacuum Inputs:        4
      6 Use Active Tool for Arguments:      NO
      

      Note

      The combination of these two items is restricted by size and can be determined by multiplying one by the other. Note, however, that the resulting value cannot exceed 352. For example, 29 tools by 12 valves (348) would be the limit for that setup. As a second example, 22 tools by 16 valves (352) would be the limit for that setup.

    3. Set each item as desired, and press ENTER. Refer to Table 1, " Handling Config Menu Options " .

      Table 1.  Handling Config Menu Options

      Item Description

      Number of MH Tools

      Use this item to configure the number of tools you need for your system. The maximum number of tools is 29. At cold start, you will then have the specified number of tools available in the MH Valves menu under Setup.

      Number of Valves Per Tool

      Use this item to configure the number of valves you have in your tool. The maximum number of valves is 29. At cold start, you will then have the specified number of valves available in the MH Valves menu under Setup. You can then configure any valve to be a vacuum or clamp style tool and set up the required I/O for each.

      Number of Clamps

      Use this item to configure the number of clamps you need for your tool. The maximum number of clamps is 64. At Cold start, you will then have the specified number of clamps available in the MH Valves menu under Setup to assign to a valve.

      Number of Part Present Inputs

      Use this item to configure the number of Part Present Inputs you need for your tool. the maximum number of Part Present Inputs is 29. At cold start, you will then have the specified number of Part Present Inputs available in the MH Valves menu under Setup to assign to a valve.

      Number of Vacuum Inputs

      Use this item to configure the number of Vacuum Inputs you need for your tool. the maximum number of Vacuum Inputs is 29. At cold start, you will then have the specified number of Vacuum Inputs available in the MH Valves menu under Setup to assign to a valve.

      Use Active Tool for Arguments

      Use this item to change the behavior of the tool macros when no parameters are passed to them. When this is set to YES, the number of valves set in the tool SETUP are used to operate that number of valves for that tool. When set to NO, they act like the original specification.