User Manual

R12 Tool Changer instructions page 13 ST robotics
Programming.
You could have words like these
: VAC PA 2 ; ( OFF = VAC ON = GRIP
: SLOW 1000 SPEED ! ;
: VACON
VAC OFF
;
: GRIPON
VAC ON
;
: AIRSTOP
VAC OFF GRIPPER OFF
;
: GETEG ( GET ELECTRIC GRIPPER
TOOL1 RUN
1 GTYPE !
;
: PUTEG
TOOL1 RETRACE
;
: GETVAC
TOOL2 RUN
0 GTYPE !
;
: PUTVAC
TOOL2 RETRACE
;
Suppose you have an electric gripper in stand position 1, a vacuum pickup in position 2 and a pneumatic
gripper in position 3
: GETEG ( GET ELECTRIC GRIPPER
AIRSTOP
TOOL1 RUN
1 GTYPE !
;
: PUTEG
TOOL1 RETRACE
;
: GETVAC
TOOL2 RUN
0 GTYPE !
VACON
;
: PUTVAC
AIRSTOP
TOOL2 RETRACE
;
: GETPG
TOOL3 RUN
0 GTYPE !
VAC OFF
;
: PUTPG
AIRSTOP
TOOL3 RETRACE
;