Battenfeld UNIROB R10S User Manual page 77

Gripper commands
Core pullers rem., wait for Signal ON
Core pullers rem., wait for Signal ON,
2 sec Label 1
Core pullers rem., if Signal ON Label 1
Wait for signal (logic "0" or "1") from IMM, "Core
pullers in removal 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 remove the casting. This signal is used to
prevent the casting from being removed before it
has been fully released by the core pullers.
A: R104GB05A.PMD
B: R104DE05A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger
Eject, wait for Signal ON
Eject, wait for Signal ON,
2 sec Label 1
Eject if Signal ON Label 1
Wait for the signal (logic "0" or "1") from the IMM,
"Defective casting". 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
casting is defective by setting the signal to logic
"1". The token program can therefore be used to
distinguish between "perfect" and "reject"
castings.
Section 5
Page 11