ABB FlexMT, Product Manual, Page: 94 / 246

5.2 Overview
The FlexMT RAPID code consists of three main blocks, all of which are necessary
to run the FlexMT:
• PickMT core code.
This code handles the interface and the communication to and from PickMT.
No changes should be made to this code.
• FlexMT core code.
This code handles feeder subsystem, operator interaction, and some assistant
functions for the FlexMT. No significant changes should be made to this
code, especially not the feeder subsystem.
• FlexMT application code.
This code handles the complete workflow of parts in the cell (e.g. unloading
and loading of parts, option handling, picking from inconveyor, leaving on
outconveyor, …).
This code consists of a basic executable skeleton, which can be modified
by the integrator in order to match the actual application.
However, the basic structure should be followed to ensure smooth operation.
The FlexMT application code contains also a template for a machine tool interface,
which must be modified and adopted to the actual machine tool by the integrator.
The provided application code offers two possibilities:
• Application code for parameter based simplified TeachIn for upright standing
cylindrical parts, the so called FeedLine Light
• Application code for a general teachin. No general robot program can be
provided for unknown parts, so that the skeleton has to be adapted to each
new part.
The following sections describe parts that are relevant for commissioning and
adopting the code skeleton to the actual application. Further information on the
three main parts can be found in the technical appendix.
94 3HAC051768-001 Revision: -
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5 Robot program
5.2 Overview