ABB FlexMT, Product Manual, Page: 103 / 246

Description Name
This procedure unloads detail in main chuck. Make sure to use
EnterMachine before all loading/unloading and ExitMachine after
all loading/unloading. LOCAL PROC Unload-
MAIN()
The unload position is always calculated. X and Y is set to 0 and
Z is calculated with help from PickMT values. To change the
unload position, the work object has to be adjusted until the
position is correct. In this case adjust “wMainChuckM1” by
running the procedure “CalibMainChuck”
This procedure unloads detail in sub chuck. Make sure to use
EnterMachine before all loading/unloading and ExitMachine after
all loading/unloading. LOCAL PROC Unload-
SUB()
The unload position is always calculated. X and Y is set to 0 and
Z is calculated with help from PickMT values. To change the
unload position, the work object has to be adjusted until the
position is correct. In this case adjust “wSubChuckM1” by run-
ning the procedure “CalibSubChuck”
3HAC051768-001 Revision: - 103
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5 Robot program
5.5.1 FeedLine Light operation
Continued