the cycle of looking for a new bronze knife.

According to the bronze sculpture, Fu Hao is of a fair face and brave and skillful in the battlefield. In addition, the command channel combined with the use of indexing axis is also very efficient. Bronze pocket chain rotation axis is undefined indexing axis, the axis of the target location is not a bronze pocket number, but it calculated the angular coordinates of the rotation axis, which is obviously not indexing axis is more intuitive. T cycle of instruction to find a new bronze knife, when the mechanical hand bronze knives, bronze knife should be in the hands first, back in the library of bronze knife type bronze pocket, and after the cycle of looking for a new bronze knife.
There are two Zhaokong bronze pocket in the Siemens 840D bronze knife library management software for fixed bronze pocket to find a bronze knife, taken from the library of bronze knife back to the original bronze pocket. Furthermore, Fu Hao also involved in national affairs and in charge of the ritualbronze sculpture, etc. Random to find a bronze knife, Zhaokong bronze pocket is also random, whether it is a standard bronze knife or bronze knives, re-Bronze knife Bronze pocket type, the nearest Zhaokong bronze pocket nearby also the hands of the old bronze knife The large bronze knife, and in a random way, re-Bronze knife can also be fixed bronze pocket the way the old bronze knife. In the design of our random way Zhaokong the Bronze pocket in the bronze knife library management standard function block FB91: the EMP. SUCH completed, programmed as follows.
Empty bronze knife block to find a hollow bronze knife Find complete the empty bronze knife block to find error empty bronze knife to find the status empty bronze knife where the bronze tool magazine number empty bronze knife where the Bronze pocket number MagNr-EmpLocNr-Emp bronze knife count PLC block, negative positioning, forward positioning, positioning location, positioning speed, positioning is completed, locate the entry into force, start the fault / failure FrateInpos ActiveStartErr Error Journal Chapter  Bronze knife library robot and spindle wrap bronze knife to wrap the bronze knife schematic and the entire implementation process when the PLC received a bronze knife changer signal the M06 get goal bronze knife No.