Battenfeld UNIROB R10S User Manual page 76

Fully automatic mode, wait for Signal ON
Fully automatic mode, wait for Signal ON,
2 sec Label 1
Fully automatic, if Signal ON Label 1
Wait for the signal (logic "0" or "1") from the IMM,
"Machine in Automatic mode". 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 it is in
"Fully Automatic" mode by setting the signal to
logic "1". In the token program this signal is
used, for example, to prevent the robot from
moving between the two mould halves before
the machine is operating in "Fully Automatic"
mode.
Section 5
Page 10
Core pullers back, wait for Signal ON
Core pullers back, wait for Signal ON,
2 sec Label 1
Core pullers back, if Signal ON Label 1
Wait for signal (logic "0" or "1") from IMM, "Core
pullers in retracted position". 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 sets the signal to logic "1" to indicate to
the robot system that the core pullers are ready
to be retracted. This signal can be given before
the mould halves are fully opened. This makes it
possible to achieve faster removal times.
Gripper commands
A: R104GB05A.PMD
B: R104DE05A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger