Battenfeld UNIROB R10S User Manual page 75

Gripper commands
Ejector forward, wait for Signal ON
Ejector forward, wait for Signal ON,
2 sec Label 1
Ejector forward, Signal ON Label 1
Wait for the signal (logic "0" or "1") from the IMM,
"Ejectors are forward". 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
ejectors are fully extended by setting the signal
to logic "1". This signal is frequently used so that
the casting is not gripped until the ejectors have
moved it to the furthest forward position. is The
sprue grippers, for example, cannot grip the
sprue until the casting has been correctly
positioned by the ejectors.
A: R104GB05A.PMD
B: R104DE05A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger
Ejector back, wait for Signal ON
Ejector back, wait for Signal ON,
2 sec Label 1
Ejector back, Signal ON Label 1
Wait for the signal (logic "0" or "1") from the IMM,
"Ejectors are back". 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 IMD signals to the robot system that the
ejectors are fully retracted by setting the signal
to logic "1". This signal is frequently used to
prevent the robot from being raised out of the
tool area before the ejectors have been
withdrawn from the casting.
Section 5
Page 9