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6 Commissioning
6.9 Approaching the clamping position
1
1
Waiting position P1
Fig. 13
Setting up the clamping position
NOTICE
• If the torch is not in the clamping position and a clamping and stroke movement is executed, the reamer could become
damaged.
• The immersion depth of the reamer is set via the robot's "TEACH IN" function.
Exact robot programming is required to prevent reaction forces from being transmitted over the torch to the robot axes when
clamping the gas nozzle. This could possibly result in error messages or axis disconnections. Save the following approach
positions in the robot program.
1 Move the robot to waiting position P1 (1).
2 Query the operational readiness of the BRS-LC.
3 Move the torch into the clamping device (2) when "stroke down" (= I).
The gas nozzle rests evenly on the cylindrical part of the clamping prism. The torch and reamer axes are coaxial. Clamping
position P2 (3)
EN - 20
3
2
2
Move torch into clamping device
BRS-LC
3
Clamping position P2
BAL.0030 • 2022-03-31
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