ABB FlexLoader SC 6000, Руководство по эксплуатации продукта

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F.3 FlexLoader application functionality
Overview
The FlexLoader SC 6000 application functionality handles application and part
specific aspects of the robot cell.
The integrator is responsible for adapting this functionality to the actual application.
Description Module
Main program automatically loaded by FlexLoader Vision. Main.pgf
This module contains the overall and part independent logic for
the robot cell. Loaded to all motion tasks. MainModule.mod
This module provides part-specific application code. This module
is further specified for parametrized applications (e.g. FlexLoader
Vision Lite) and generic applications. In the case of FlexLoader
Vision Lite only one camera is possible and the module for this is
named LitePartCam1.mod. Used in all motion tasks. PartCam1..4.mod
This module contains general tool data, event routines, world
zones, configuration routine and more which is general for all
kinds of cell types. Could be used in all motion tasks but might
need modifications for robot two and up. Common.sys
This module handle robot movement between via positions (gen-
eral movements in the cell). Could be used in all motion tasks but
might need modifications for robot two and up. MoveRobotVia.mod
MainModule.mod
MainModule.mod is always supplied with FlexLoader Vision. It is the main robot
program of the system. MainModule.mod provides the following routines:
Description Routine
Checks whether anyone has requested entry to the cell or has
been inside the cell. The routine also ensures that new images
are taken when the cell is started after someone has been inside.
This happens as it can no longer be guaranteed that the part re-
mains under the camera. PROC CheckSystem()
Example routine of how to use the ControlImage functionality.
This routine should only be used when second control image is
needed. PROC ControlImage-
Handling(num Camer-
aNumber)
Contains the necessary initialization for the main program. PROC InitializeMain()
Loads relevant module files for each camera. The name of each
module that is to be loaded is provided by FlexLoader Vision. PROC LoadCameraMod-
ules()
Start of program, a base structure is prepared. Integrator could
add or modify if needed. PROC Main()
Called when the robot is to retrieve a new part by the camera. This
routine calls up several sub-routines to request new coordinates
and perform movements to and from the pick position. PROC PickPartAtCam-
era(num CameraNum-
ber\num DesiredPosi-
tion,\num MaxImageRe-
tries,\num TimeoutTime-
Vision)
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Product manual - FlexLoader SC 6000 201
3HAC051768-001 Revision: D
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F FlexLoader RAPID reference
F.3 FlexLoader application functionality