Battenfeld UNIROB R10S User Manual page 74

Signals from the
injection moulding machine to
the robot system
Start handling, wait for Signal ON
Start handling, wait for Signal ON,
2 sec Label 1
Start handling, if Signal ON Label 1
Wait for the signal (logic "0" or "1") from the IMM
"Mould open", "Activate Start Handling". If this
condition has been fulfilled the system jumps to
the next line. It may also jump to a label.
It is also possible to use a time monitor here.
Hence if the desired condition is not fulfilled
within the specified period the system then
jumps to a label.
The IMM signals to the robot system that the
mould is fully open by setting the signal to logic
"1". In many removal procedures the robot
cannot enter the IMM until this signal has been
given.
Section 5
Page 8
Mould closed, wait for Signal ON
Mould closed, wait for Signal ON,
2 sec Label 1
Mould closed if Signal ON Label 1
Wait for the signal (logic "0" or "1") from the IMM
"Mould closed". Once this condition has been
fulfilled the system then jumps to the next line. It
may also jump to a label.
It is also possible to use a time monitor here.
Hence if the desired condition is not fulfilled
within the specified period the system then
jumps to a label.
The IMD signals to the robot system that the
mould is fully closed by setting the signal to logic
"1". In many removal procedures the
combination of the "Tool open – Start handling
procedure" and "Tool closed" signals provides
an additional safety feature to prevent the robot
from colliding with the mould.
Gripper commands
A: R104GB05A.PMD
B: R104DE05A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger