Lincoln Electric IM866 POWER REAM - Manual (Page 14)

ROBOT PROGRAMMING - 14 -
POWER REAM
Robot Position Programming
The POWER REAM features a ―no trial, no error‖ position programming technique as described below:
1. Wire cut Position: Center the nozzle at the desired stick-out height above the wire cutter. Record this
position as the ― Wire Cut‖ position described in ―Robot Control Programming‖ section above.
2. Hold the ―Setup Sequencer‖ button to raise the reamer. This will lift the reamer without spinning.
WARNING: the lift will operate under this condition. KEEP HANDS CLEAR
of the operating space of the reamer. This device is intended for one-man
operation during setup.
Once the reamer is at the top position (―Lift‖ indicator is green), release the ―Setup
Sequencer‖ button.
3. Using the robot, move the torch nozzle into the clamp such that the reaming bit is inset to the full depth
required inside the nozzle.
4. Press and release the ―Setup Sequence‖ button to verify all four faces of the clamp engage the
cylindrical body of the nozzle equally, and that the nozzle does not change orientation or position when
clamped.
WARNING: the clamp will operate under this condition,
KEEP HANDS CLEAR of the operating space of the clamp
and wire cutter.
This device is intended for one-man
operation during setup.
5. Register this position in the robot controller using a fine position level as the ― ream position‖ described
in flow diagram above.
6. Press the ―Reset‖ button until the reamer lowers. The reamer will lower without spinning, and the clamp
will open
WARNING: the lift and clamp will operate under this
condition. KEEP HANDS CLEAR of the operating space of
the reamer.
This device is intended for one-man operation
during setup.
7. Spray Position: Center the nozzle 1½ inches above the spray head. Record this position as the
― Spray‖ position described in the flow diagram above.
Note: The fluid line takes approximately 10 seconds to prime. The sprayer has a built in post-flow timer of
1 second. Airflow from the nozzle will be present for 1 second after the spray output is turned off.
Wire Cut Position Ream Position Spray Position