ABB FlexMT, Product Manual, Page: 98 / 246

5.3.4 Communication flow
Depending on the type of the machine tool and the type of application a variety of
communication flows are possible.
A typical machine tool communication flow for a load-unload sequence as realized
in the standard setup could be (Pseudo-RAPID) as follows. Note that no movement
is included in this schematic code.
MachineAction INIT_MACHINE;
Await MachineCheck(LOAD_MAIN_OK)=TRUE;
MachineAction PREPARE_LOAD_MAIN;
MachineAction OPEN_DOOR;
Await MachineWait(DOOR_OPENED,10);
! Enter machine tool and load part
MachineAction CLOSE_CHUCK_MAIN;
MachineAction PREPARE_UNLOAD_SUB;
! grip detail
MachineAction OPEN_CHUCK_SUB;
! leave machine
MachineAction CLOSE_DOOR;
MachineAction CYCLE_START;
Different machine tools have different behavior. As described in the previous
section, FlexMT supplies a comprehensive set of tools and adoption possibilities
to handle these behaviors.
98 3HAC051768-001 Revision: -
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5 Robot program
5.3.4 Communication flow