ABB FlexLoader SC 6000, Руководство по эксплуатации продукта

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Description Name
Waits for machine 1 condition to be ok within MaxTime . Returns
false if MaxTime elapses.
FUNC bool Ma-
chine1Wait(ma-
chinecheck Wait,num
MaxTime)
NEEDED: Define signals and communicate with machine tool.
Performs desired machine 2 tool action. PROC Machine1Ac-
tion(machineaction Ac-
tion)
NEEDED: Define signals and communicate with machine tool.
Checks machine 2 tool and conditions and returns correct state
for use in main flow of program. FUNC bool Ma-
chine1Check(ma-
chinecheck Check,\IN-
OUT bool Result)
NEEDED: Define signals and communicate with machine tool.
Waits for machine 2 condition to be ok within MaxTime . Returns
false if MaxTime elapses.
FUNC bool Ma-
chine1Wait(ma-
chinecheck Wait,num
MaxTime)
NEEDED: Define signals and communicate with machine tool.
DANGER
Ensure that the standard features in MachineXAction , MachineXCheck and
MachineXWait are correctly implemented (where X is machine number).
Malfunction and collisions might otherwise occur.
Note
We recommend the use of an additional background task if the robot cell requires
time critical machine tool communication.
Note
Operation with more than two machines requires the creation of these routines
with equivalent names, e.g. Machine3Action and Machine4Wait.
TemplateMachine_Lathe.sys
This module contains a number of predefined traps for information transfer with
machine tool.
Description Name
Used on machine tools with slow doors. Signal is caught by trap
instead of foreground program so that the robot can continue
working. Confirms to the machine tool that a door closed signal
has been received and the whole loading sequence is finished. TRAP DoorClosedTrap
Can be used for special conditions or checks on certain machine
tools. TRAP DoorNotOpene-
dTrap
Receives information from machine tool that a part soon needs
to be loaded. If needed, add code to confirm to the machine tool
that a signal has been received. TRAP PrePickTrap
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Product manual - FlexLoader SC 6000 219
3HAC051768-001 Revision: D
© Copyright 2014-2020 ABB. All rights reserved.
F FlexLoader RAPID reference
F.7 FlexLoader machine tool interface functionality
Continued