Epson TP1 Bedienungsanleitung PDF herunterladen (Seite 27)

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P1 P2

P3

Till

The speed will be immediately reduced and

the arm will be stopped if the input condi

-

tions, which were set up in advance by a

TILL command, are fullled whilst the arm

is moving. This feature is used in particular

to reduce the cycle time as the arm moves

during the sampling.

Sense

Input conditions, which were set up in

advance by a SENSE command, will be

checked immediately prior to the arm

starting its downward non-stop movement.

The robot will be stopped above the target

position (“approach point“) if the condition

is fullled.

The check starts

before the downward

movement

Stop is above the

target position

Target position

Arm stopped

Condition fulﬁlled

The pallet need not necessarily lie in one

of the coplanar base levels.

The pallet need not necessarily be square.

Example: “Pallet”

Pallet 1, P1, P2, P3, 3, 4

= Pallet deﬁnition

Jump pallet (1, 4)

= 1. palett, 4. nest

Pallet

number

Pallet level

deﬁnition

Number of columns

Number of lines

™¶

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