ABB FlexLoader Vision, Product Manual

Page: 195 / 288

RUN_NEVER, RUN_NEVER,];
PERS bool ALLOW_AUTO_GRAB{4}:=[FALSE, FALSE, FALSE, FALSE];
The main loop is handled according to code shown below. This example shows
how to handle that parts occasionally are not found.
! do initial image acquisition and pick of part
GrabImage CAMERA_NO_1;
RefPosInCam_1
WaitUntil bCoordReceived{CAMERA_NO_1}=TRUE;
SetNextTarget CAMERA_NO_1;
! handle that parts occasionally are not found.
WHILE nAction{CAMERA_NO_1} <= NO_DETAIL DO
! change camera settings if necessary
DiscardAndTakeNewImage CAMERA_NO_1;
WaitUntil bCoordReceived{CAMERA_NO_1}=TRUE;
SetNextTarget CAMERA_NO_1;
Incr nImageRetries{CAMERA_NO_1};
IF nImageRetries{CAMERA_NO_1} > MAX_IMAGE_RETRIES{CAMERA_NO_1}
THEN
! Create alarm or inform user in some other way
EXIT;
ENDIF
ENDWHILE
IF nAction{nCameraNumber}=CHANGE_BIN THEN
! TODO - Do something to take care of pallet change, can be
removed if not a pallet picker cell
ELSEIF nAction{nCameraNumber}=PICK_INTERLAYER THEN
! TODO - Do something to take care of interlayer, can be removed
if not a pallet picker cell
ELSEIF nAction{nCameraNumber}=PICK_INTERLAYER_AND_CHANGE_BIN THEN
! TODO - Do something to take care of interlayer AND pallet
change, can be removed if not a pallet picker cell
ELSE
PickCam_1;
RefPosOutCam_1;
! start process of post-pick processing
MoveRobotToCamera2;
RefPosInCam_2;
GrabImage CAMERA_NO_2;
WaitUntil bCoordReceived{CAMERA_NO_2}=TRUE;
SetNextTarget CAMERA_NO_2;
! handle that parts occasionally are not found.
WHILE nAction{CAMERA_NO_2} <= NO_DETAIL DO
! change camera settings if necessary
DiscardAndTakeNewImage CAMERA_NO_2;
WaitUntil bCoordReceived{CAMERA_NO_2}=TRUE;
SetNextTarget CAMERA_NO_2;
Continues on next page
Product manual - FlexLoader Vision 195
3HAC051771-001 Revision: B
© Copyright 2014-2018 ABB. All rights reserved.
13 Robot integration
13.3.2 FlexLoader application functionality
Continued