ABB FlexLoader SC 6000, Руководство по эксплуатации продукта

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Description Routine
This function returns the module name from a search path string. FUNC string getModule-
Name(string sModule-
Path\switch WithFileEx-
tension)
Help to count parts in cell. FUNC num getPart-
Count(num nArrayIn-
dex\num nPartsPer-
Count)
Returns robot number of the robot where calling module is execut-
ing. FUNC num getRobot-
Number()
Function that checks if a robot with its current tool is close to the
specified robtarget in the specified workobject. FUNC bool isDis-
tanceOK(\num Robot-
Number,\tooldata
checkTool,robtarget
checkPosition,wobjdata
workObject,num
maxDistance\switch
PrintDistance)
Returns highest value of two num variables. FUNC num maxNum-
Value(num Value1,num
Value2)
Returns lowest value of two num variables. FUNC num minNum-
Value(num Value1,num
Value2)
Reset the cycle time calculation. PROC ResetCycle-
Times(num nArrayIn-
dex)
Reset part counter. PROC ResetPart-
Count(num nArrayIn-
dex)
Sets a configuration value depending on if passed IO exists in
system or not. PROC SetConfiguration-
Variable(INOUT bool
ConfiguratioValue,string
SignalName,\switch
OutputSignal|switch In-
putSignal)
Set a digital output signal with signal name passed as a string. PROC SetDOSig-
nal(string Signal-
Name,dionum Value)
Returns tooldata value with offsets according to optional argu-
ments. If no optional arguments is used Return value is the same
as input value. Example:
tTempDeburr:=ToolOffset(tDeburrOriginal\tOff-
sX:=0\tOffsY:=0\tOffsZ:=2);
FUNC tooldata ToolOff-
set(PERS tooldata
ToolToAdjust,\num tOff-
sX,\num tOffsY,\num
tOffsZ)
Writes all active alarms in system to a file. PROC WriteActiveAlarm-
sToFile()
IndicationLights.mod
The background task with module IndicationLights.mod, handles the indicator
lights according to operational status.
Description Routine
Main loop for task. PROC main()
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214 Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
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F FlexLoader RAPID reference
F.6 FlexLoader assistance and utility functionality
Continued