ABB FlexMT, Product Manual, Page: 101 / 246

5.5.1 FeedLine Light operation
The ModCam1.mod module for FeedLine Light operation contains part specific
movement, option handling and machine tool handling.
DANGER
The handling routines are called for each part. Make sure your code is good for
all parts, else activate the option “special robot program” from PickMT.
It contains the following base procedures and functions:
Description Name
Initializes camera and part specific data. PROC InitializeCam()
This is the main routine for FeedLine Light PROC MainRoutine()
It checks for entry request, maintenance request and other
production breaking conditions. Then it calls the state logic to
decide what to do next.
This routine moves the robot to a selected zone. PROC MoveRobotTo(num
nTargetZone)
Argument: nTargetZone, to where the robot should move.
This routine performs the actual picking of a detail from belt at
camera position. PROC Pick()
This routine is called to approach camera belt before picking. PROC RefPosIn()
This is an intermediate position used when leaving the picking
area. Update this position to suite the current application. PROC RefPosOut()
This procedure close the gripper on the active tool. PROC GripDetail(\switch
Left_over_part)
This procedure releases the gripper on the active tool. It will
also set correct information for gripper, what is carried, mass
and center of gravity. Also it will call load compensation calcula-
tion. PROC ReleaseDetail()
Checks setup and machine condition and selects correct state
in main program flow. I.e. this function handles the main program
flow. FUNC string StateLogic()
This procedure is executed when PickMT is stopped PROC StopRoutine()
Leave detail on out belt. This routine uses help functions in
FeederOut.sys, to make those work the SetUpFeederOut must
be called during initialization. PROC LeaveFeederOut()
Note! Position that is sent as argument to CalcFeederOut-
LeaveTarget is overwritten with next leave position.
It contains the following option handling procedures and functions.
Description Name
Example code to air clean solid cylindrical parts. PROC AirCleanDetail()
Example code for deburring. PROC DeburrDetail()
Example code for leaving the finished detail in the statistical
outlet. PROC LeaveSampleOut-
let()
Example code for marking detail. PROC MarkDetail()
Example code for turning detail before loading machine. PROC TurnDetail()
Continues on next page
3HAC051768-001 Revision: - 101
© Copyright 2014-2014 ABB. All rights reserved.
5 Robot program
5.5.1 FeedLine Light operation