Program Example For Using The Fast Link-Up Function - Mitsubishi Electric NZ2GN2S1-32D User Manual

9.3
Program Example for Using the Fast Link-Up
Function
This section describes tool switching with the fast link-up function using examples.
System configuration
The following figure shows the system configuration. Switch between tool 1 and tool 2 with the tool changer.
Robot
Program overview
Prepare for the following processing for each tool.
A series of tool operations will be completed by performing connection, control, and disconnection, in this order.
■Connection
Move the arm and control the tool changer to connect to a target tool. Check that data link of all I/O modules in the target tool
system has been completed, and proceed to the next process, control.
■Control
Actually input or output values to control the tool. When the control is completed, proceed to the next process, disconnection.
■Disconnection
Control the tool changer to disconnect the target tool from the arm. Check for a disconnection (data link error) of the I/O
modules connected with the tool changer in the target tool system. The tool operation is completed.
Tool changer
Station No.1
Tool 1
Station No.2
Tool 2
Station No.4

9.3 Program Example for Using the Fast Link-Up Function

Station No.3
Station No.5
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