ABB Robotics FlexGripper, Product Manual

Page: 46 / 116

pace:=0;
clkreset MyClock;
clkstart MyClock;
! zone radius 400mm
for i from 1 to 5 do
PFPSClawCylinder \Close;
PFPSFixCylinder \Down;
GripLoad PFPSLoadFull;
MoveC Offs(pPick,0,117,283),Offs(pPick,0,400,400),vmax,z200,
tPFPSClawGrip\WObj:=wobj0;
MoveL Offs(pPick,0,2000,400), vmax, z200, tPFPSClawGrip\WObj:=wobj0;
MoveL Offs(pPick,0,2000,0), vmax, z200, tPFPSClawGrip\WObj:=wobj0;
PFPSFixCylinder \Up;
PFPSClawCylinder \Open;
GripLoad PFPSLoadEmpty;
!Gripper start to back!
MoveL Offs(pPick,0,2000,400), vmax, z200, tPFPSClawGrip\WObj:=wobj0;
MoveL Offs(pPick,0,400,400), vmax, z200, tPFPSClawGrip\WObj:=wobj0;
MoveC Offs(pPick,0,117,283),pPick, vmax, fine,
tPFPSClawGrip\WObj:=wobj0;
endfor
waituntil\inpos,true;
clkStop MyClock;
cycletime:=clkRead(MyClock)/5;
pace:=3600/cycletime;
ENDPROC
PROC PFPSClawCylinder(\switch Open | switch Close)
IF Present (Open) THEN
SetDO DO10_02_ClawCylinder1_Close,0;
SetDO DO10_01_ClawCylinder1_Open,1;
WaitDI DI10_01_ClawCylinder1_Opened,1;
ENDIF
IF Present (Close) THEN
SetDO DO10_01_ClawCylinder1_Open,0;
SetDO DO10_02_ClawCylinder1_Close,1;
WaitDI DI10_02_ClawCylinder1_Closed,1;
WaitDI DI10_04_ClawCylinder2_Closed,1;
ENDIF
ENDPROC
PROC PFPSFixCylinder(\switch Up | switch Down)
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46 Product Manual - FlexGripper-Claw
4GAA40401009901-001 Revision: A
© Copyright 20132019 ABB. All rights reserved.
2 FlexGripper-Claw
2.3.5 Commissioning
Continued