Lincoln Electric IM866 POWER REAM - Manual (Page 13)

ROBOT PROGRAMMING - 13 -
POWER REAM
POWER REAM programming example for Fanuc robots
1: DO[28]=PULSE,.5SEC; Inch wire out for ½ second
2: CALL HOME; Safe home point position
3: IF DI[3]=OFF,JMP LBL[1]; Check if the reamer is ready
4: J P[1] 100% FINE; Safe approach point over wire cutter
5: L P[3] 500IPM FINE; Wire cut position (see illustration)
6: DO[3]=PULSE,.5SEC; Pulse reamer “start” signal, and…
7: DO[4]=PULSE,.5SEC; Pulse reamer “spray” signal to cut
8: WAIT .5SEC; Wait for the wire cutter
9: WAIT DI[3]=ON; Wait for reamer “complete” signal
10: L P[2] 500IPM FINE; Ream position (see illustration)
11: DO[3]=ON; Turn on reamer
12: WAIT 2SEC; Adjustable time for reaming operation
13: DO[3]=OFF; Turn off reamer
14: WAIT DI[3]=ON; Wait from reamer “complete” signal
15: L P[4] 500IPM FINE; Spray position (see illustration)
16: DO[4]=PULSE,.5SEC; Pulse anti-spatter spray
17: L P[5] 500IPM FINE; Pull out point from spray position
18: LBL[1]; Label for JMP statement, line 2
19: CALL HOME; Return to home point position
NOTE: The I/O points may be different, configuration specific.
How to teach reaming program instructions
CALL HOME; Press NEXT key, press F1 INST key, cursor to line CALL, Enter. At new
submenu, cursor to line Call Program, Enter. Now cursor to program
HOME, Enter.
DO[28]=PULSE,.5SEC; Press NEXT key, press F1 INST key, cursor to line I/O, Enter, cursor to
line DO=...., Enter, Key in (28), Enter, At new submenu, cursor to desired
line Pulse, Enter, key in desired time (.5), Enter.
IF DI[3]=OFF,JMP LBL[1]; Press NEXT, press F1 INST key, cursor to line IF/SELECT, Enter, cursor
to line IF?.=?., Enter, cursor to line DI, Enter, Key in 3, Enter, cursor to
OFF, Enter, cursor to JMP LBL, Enter Key in 1, Enter.
DO[3]=ON or OFF Press NEXT key, press F1 INST key, cursor to line I/O, Enter, cursor to
line DO[ ]=…, Enter, key in a 3, Enter, At new submenu, cursor to
desired line On or Off, Enter
WAIT 2SEC; Press NEXT key, cursor to line WAIT, Enter, at new submenu, cursor to
line WAIT… (sec), Enter, key in desired number of seconds, Enter.
WAIT DI[3]=ON; Press NEXT key, press F1 INST key, cursor to line WAIT, Enter, cursor
to line WAIT…, Enter. At new submenu, cursor to line DI[ ], Enter, key in
a 3, Enter. At new submenu, cursor to line ON, Enter.
DO[3]=PULSE,.3SEC; Press NEXT key, press F1 INST key, cursor to line I/O, Enter, cursor to
line DO[ ]=…, Enter, Key in desired output (3), Enter. At new submenu,
cursor to desired line Pulse, Enter, key in desired time (.5), Enter