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Programming S900–II Level 1

Version 2.2 |–>

IV – Programming instructions

01T01527_2

25.5.00

IV – 4. 3. SLA : Slow approach (Temporary)

Syntax : SLA Y 15

SLA Z 20

Use : this type of function is related to the execution of a numerical movement.

Step 08 Sla. Y 10

Y ABS.L 1200.0

Grip part 1

Grip part 2

10 %

100 %

d (mm)1200.0

Loss of FAL

or Loss of End of Slow Speed

or Presence part 1

or Presence part 2

Speed

In the above example, the Y movement will normally be run to reach a speed of 10% at the position

1200.0. Subsequently, the speed will be maintained until :

 “End of Slow Approach” (FAL) input disappears. (Generally on input of the optional

changeable parallelogram setting control on SEPRO wrists). Signal active at 0.

 or the disappearance of the “End of Slow speed” input. Signal active at 0.

 or the appearance of all the Part Presence controls whose instructions are programmed

simultaneously at the slow appraoch, signal active at 1.

If several grips are programmed, the slow speed will be maintained until all the part present messages

appear.

Moreover, a so–called “slow” input is associated with each axis which causes a controlled reduction

in speed when it disappears, so that the movement ends as shown above.

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