ABB Robotics FlexGripper, Руководство по эксплуатации продукта

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Description Routines
This routine is called when the robot goes to pick up boxes. PFPS_PickUpBox()
This routine is called when the robot goes to place down boxes. PFPS_PlaceDownBox()
This routine is called when the robot goes to pick up and place
down boxes. exePickPlace()
The two routines ’PFPS_PickUpBox()’ and ’PFPS_PlaceDown-
Box()’ are called during the process.
Note
The target points ’pHome’, ’pPick’ and its offsets must be defined and taught
firstly.
Note
The claw is open, when ’DO10_02_ClawCylinder1_Close’ is set to be ’0’ and
’DO10_01_ClawCylinder1_Open’ is set to be ’1’. The claw is close, when
’DO10_02_ClawCylinder1_Close’ is set to be ’1’ and
’DO10_01_ClawCylinder1_Open’ is set to be ’0’.
PFPSClawCylinder()
PROC PFPSClawCylinder()
IF Present (Open) THEN
SetDO DO10_02_ClawCylinder1_Close,0;
SetDO DO10_01_ClawCylinder1_Open,1;
WaitDI DI10_01_ClawCylinder1_Opened,1;
ENDIF
IF Present (Close) THEN
SetDO DO10_01_ClawCylinder1_Open,0;
SetDO DO10_02_ClawCylinder1_Close,1;
WaitDI DI10_02_ClawCylinder1_Closed,1;
ENDIF
ENDPROC
PFPSFixCylinder
PROC PFPSFixCylinder
IF Present (Up) THEN
SetDO DO10_06_FixCylinder1_Down, 0;
SetDO DO10_05_FixCylinder1_Up, 1;
WaitDI DI10_05_FixCylinder1_Up,1;
ENDIF
IF Present (Down) THEN
SetDO DO10_05_FixCylinder1_Up, 0;
SetDO DO10_06_FixCylinder1_Down, 1;
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Product Manual - FlexGripper-Claw 43
4GAA40401009901-001 Revision: A
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2 FlexGripper-Claw
2.3.5 Commissioning
Continued