Sequence Of Torch Cleaning - ABB TSC 2013 Assembly Instructions Manual

Program sequence for torch cleaning
2.6.4

Sequence of torch cleaning

The instruction "MoveMechCleanL" moves the robot via a preliminary position directly to the
cleaning position and checks whether the milling cutter in the lower end position and the clamping
element is open. In the case of incorrect signal states an operator dialogue is automatically
opened on the FlexPendant and operator interaction is necessary. In the case of correct signal
states the cleaning sequence is started. The set time for torch cleaning does not start until the mill-
ing cutter has reached the upper end position. After the end of the cleaning time the clamping ele-
ment is opened and the robot returns to the preliminary position.
Note: The milling cutter must be set so that it has reached the upper end position in 30 seconds,
as an error message otherwise appears.
Operator interaction in faulty signal states of the milling cutter
If here is no release agent in the tank or the level of release agent is too low, an error message
occurs, however the robot program is not interrupted.
Result log - message
2-24 3HDA000057A8519-001 Torch cleaner TC 2013