ABB FlexMT, Product Manual, Page: 97 / 246

5.3.3 Procedures, functions and traps
The module contains a number of predefined traps for information transfer with
machine tool:
Description Name
Receives information from machine tool that a part soon needs
to be loaded. If needed, add code to confirm to machine tool that
signal has been received. TRAP PrePickTrap
Used on machine tools with slow doors. Signal is caught by trap
instead of foreground program so that robot can continue work.
Confirms to machine tool that door closed signal has been re-
ceived and whole loading sequence is finished. TRAP DoorClosedTrap
The module contains a number of predefined procedures/functions for
communication with machine tool:
Description Name
Initiate whats neccessary for machine handling. Sets up traps.
NEEDED: Set up correct signals for interrupt handling. PROC InitMachine
Performs desired machine tool action.
NEEDED: Define signals and communicate with machine tool. PROC MachineAction
(string sAction)
Checks machine tool and conditions and returns correct state
for use in main flow of program.
NEEDED: Define signals and communicate with machine tool. FUNC bool Ma-
chineCheck (string
sCheck)
Waits for machine condition to be ok within nMaxTime. Returns
false if nMaxTime elapses. FUNC bool MachineWait
(string sWait,num nMax-
Time)
NEEDED: Define signals and communicate with machine tool.
3HAC051768-001 Revision: - 97
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5 Robot program
5.3.3 Procedures, functions and traps