Control Mode of Six-axis Manipulators
Periodic mode
1. The manipulator presses the left limit switch and the upper limit switch in situ and presses the operation button once. The manipulator starts to descend, and drops to the left station to press the lower limit switch and then stops automatically.
2. After clamping the workpiece, the manipulator starts to rise, rising to the original position, pressing the upper limit switch, and then stops automatically.
3. The manipulator starts to move to the right until it stops automatically after pressing the right limit switch.
4. The manipulator descends to the right station to press the lower limit switch (two stations use one lower limit switch) and then automatically stops.
5. The manipulator relaxes the workpiece and starts to rise until the upper limit switch is pressed and then stops automatically (one upper limit switch is used for two stations).
6. The manipulator starts to move to the left until it stops automatically after pressing the left limit switch. When the action of the previous cycle is finished, press the operation button again to start the operation of the next cycle.
Continuous mode
After starting, the manipulator repeatedly runs the action process of each cycle, that is, it runs periodically and continuously.
Single-step therapy
Every time the operation button is pressed, the manipulator completes a work step. For example, when the operation button is pressed once, the manipulator begins to descend, and when it descends to the left station, it presses the lower limit switch to stop automatically. In order to run the next work step, the operation button must be pressed again.
1. The manipulator presses the left limit switch and the upper limit switch in situ and presses the operation button once. The manipulator starts to descend, and drops to the left station to press the lower limit switch and then stops automatically.
2. After clamping the workpiece, the manipulator starts to rise, rising to the original position, pressing the upper limit switch, and then stops automatically.
3. The manipulator starts to move to the right until it stops automatically after pressing the right limit switch.
4. The manipulator descends to the right station to press the lower limit switch (two stations use one lower limit switch) and then automatically stops.
5. The manipulator relaxes the workpiece and starts to rise until the upper limit switch is pressed and then stops automatically (one upper limit switch is used for two stations).
6. The manipulator starts to move to the left until it stops automatically after pressing the left limit switch. When the action of the previous cycle is finished, press the operation button again to start the operation of the next cycle.
Continuous mode
After starting, the manipulator repeatedly runs the action process of each cycle, that is, it runs periodically and continuously.
Single-step therapy
Every time the operation button is pressed, the manipulator completes a work step. For example, when the operation button is pressed once, the manipulator begins to descend, and when it descends to the left station, it presses the lower limit switch to stop automatically. In order to run the next work step, the operation button must be pressed again.