Lincoln Electric IM866 POWER REAM - Manual (Page 12)

ROBOT PROGRAMMING - 12 -
POWER REAM
The following flow diagram shows the recommended procedure for wire cutting, reaming, and
spraying sequences. Use the robot controller to implement this sequence.
― Complete‖ input
on?
Move to ― ream‖ position
Turn on ― Start‖ output
Move to ― wire cut‖
position
Inch wire for 0.5 sec.
Turn on ― spray‖ AND ― start‖ output
for 0.5 second.
Turn off ― start‖ and ― spray‖ outputs
Error
!
(at any time)
― Error‖ input
on?
Yes
No
Yes
Move to ― spray‖ position
Pulse ― spray‖ output for 0.5 second
Move to next position
Wait 0.5 sec
Turn off ― Start‖ output
Wait for ― Complete‖
input to turn on