Mul File Specification - Clamps

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Auteur avatarGareth Green | Dernière modification 4/07/2023 par Gareth Green en cours de rédaction

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Specification for the Clamps.mul file

Specification

The Clamps file contains the setup of a clamp on the machine that is specifically controlled by the position of an axis. This is common across all Stuga machines. A clamp roller switches on when a bar is underneath it, but will swicth off as the gripper approaches


No Name Format Example Notes
1 Clamp Reference numeric 1 The number is hard coded and used by the back end PLC program, so should not be changed
2 Output Reference Code string OuB_CLOI Look up in IO References. See Stuga Machine IO Dictionary - Outputs
3 Grip Pos float 480.0 Position of gripper beyond which the clamp switches off
4 Bar End Pos float 250.0 Position of bar end beyond which the clamp switches on
5 Input Ref Home string InB_ClOTHm Input to check that clamp is correctly home. Alarm will be triggered if this input is not active in the home position

Look up in IO References. See Stuga Machine IO Dictionary - Inputs

-1 Means this feature is disabled

6 Input Ref Home #2 signed integer -1
7 Positional Axis Reference string X Which axis to get the X axis position from
...A flowline has two positional axes - X (orGX) and SX .The machining centre clamps work of the X axis, the saw clamps work of the SX axis

8 Off Delay numeric 1000 Timer for how long a clamp takes to retract. Used when calculating the point in time to switch off a clamp when the gripper approaches to ensure it lifts in time to clear.
9 Behaviour numeric 0 Behaviour of the clamp, set of bitwise flags
Bit Value Description
0 1
1 2
2 4
3 8

isCentralised, AHOffOn and reverseOff

Sample

1,OuB_CLOI,480.0,250.0,InB_ClOTHm,-1,X,1000,0
2,OuB_CLIS,-60.0,-120.0,InB_ClISHm,-1,X,1000,0
3,OuB_CLIT,-60.0,-120.0,InB_ClISHm,-1,X,1000,0
4,OuF_ClampIT,260.0,80.0,InF_ClampITHm,-1,SX,2000,0
5,OuF_ClampS,15.0,235.0,-1,-1,SX,1000,1
6,OuF_ClampCen,30.0,235.0,InF_CentHome,-1,SX,1000,3
7,OuF_ZsuppI,260.0,235.0,-1,-1,SX,200,0
8,OuF_ZsuppO,0.0,235.0,-1,-1,SX,200,0

Common Values


See Factory Settings - Clamp Positions


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