Sample Program

    The logic of tool changer is almost simple.

    set spindlerun, 0; !make stop spindle
    waitinput isspindlerun; !wait until spindle is stop
    waitinput tool5, 1;!cheching the tool on toolchanger station, you can check this signal "if" depends on your algorithm and program structure
    waitinput tool3, 0;!checking place position is empty of tool on spindle
    movej
    movej
    movel
    set spindleopen, 1;
    movel
    movel
    movel
    set spindleopen, 0;
    movel
    movej
    movej


    This is the basic logic of tool change but if you have any specific control or safety on your system you can insert.

    Thanks for your help..
    The problem I'm facing is suppose SpotL instruction is running and at the same time someone press the emergency switch then robot stops but afetr resuming the system what happens weld gun opens back where it stopped and goes to the next point.
    So actually it is not taking the spot if I press emergency during SpotL instruction is running.

    Please help.

Advertising from our partners