Example 1: Slave tracks master axis-specific

Programing Example

Slave tracks master axis-specific

%TrackCS-Master

#TRAFO ON

G1 G90 AB=90 F200 ;Approach magazine position

AB=30

N20 #CHANNEL INTERFACE ON [TRACK_CS]

$WHILE 1

#SIGNAL SYN [ID3 COUNT1]

#WAIT SYN [ID1]

N20 #CHANNEL INTERFACE ON [TRACK_CS]

M0    ;Wait for bending robot in magazine position

AB=127.7213 F200  ;Working position

#SIGNAL SYN [ID2 COUNT1]  ;Set pipe in working position

N20 #CHANNEL INTERFACE OFF [TRACK_CS]

AB=30 ;Magazine

$ENDWHILE

Programing Example

Slave tracks master axis-specific 2

%TrackCS-Slave

$WHILE 1

#FLUSH WAIT

;Ensure that master and slave are at position

N20 #SIGNAL SYN [ID1 COUNT1]

#WAIT SYN [ID3]

;Query interface & allow master to lead

N10 #TRACK CS ON [ID=2 SET_ZERO]

#TRACK CS ABS

AM=0 AH=0  AA=25.44  ;Approach transfer gripper

#PSET AA=0

N30 #FLUSH CONTINUE

N40 #WAIT SYN [ID2] ;Wait for pipe in working position

#TRACK CS OFF [ID=2]

N00860  ;Execute initial movement to pipe

N00940  ;Vary angle of attack

N00950  AA=60

N00950  AA=-60

N00950  AA=60

N00950  AA=-60

N00950  AA=0

$ENDWHILE