Created: 99-03-23   Revised: 99-03-23 Operato r’s manual MOTOMAN XRC Page: 7 TOOLON/TOOLOF instructions MOTOMAN ROBOTICS AB 1.3  TOOLON/TOOLOF instructions n Registering TOOLON/TOOLOF instructions This instruction is to perform TOOLON/TOOLOF F. The function keys are [f • 3] (TOOLON), [f • 1] (TOOLOF). a)    Select {JOB} under the top menu.
b)   Select {JOB CONTENT}.
c)    Press [f • 3] or [f • 1].
The instruction is displayed in the input buffer line. Or press [INFORM LIST] to
display the instruction box and select the TOOLON/TOOLOF instrcution.
d)   Press [INSERT].
e)    Press [ENTER]
n TOOLON Turns ON the start work command (specific output relay #5270) and waits for the
work start response (specific input relay #4170). The next instruction is executed
when the work response turns ON. The work start response relay turns ON
immediately after the start work command is output.
n TOOLOF Turns ON the end work command (specific output relay #5271) and waits for the
work end response (specific input relay #4171).The next instruction is executed
when the work end response turns ON.
The work end response relay turns ON immediately after the end work command
is output. The work command is programmed to hold after the work start com-
mand turns ON and to
 turn OFF when the work end command turns ON.
When restarting, turn on the work instruction when "WORKING ABORT PRO-
CESS" is set to "CONT". Do not  turn off the work instruction when "STOP" is set.
TOOLON TOOLOF f . 3 2 f . 1 => TOOLON
!

 

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Used Robots > Robot Manuals > Used Robots.com: Motoman XRC General Application - Page 11