ABB FlexLoader SC 6000, Руководство по эксплуатации продукта

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WARNING
After changing MainModule.mod or any PartCamX module, these modules MUST
be saved, otherwise the changes will be lost upon next start due to the automatic
program loading.
Example files
The following example programs show the principle structure of the robot code
and how the robot program should communicate with FlexLoader Vision.
There is no guarantee that any of the examples work unless the program has been
adjusted and tested for the specific robot cell.
RAPID example MainModule.mod
MainModule.mod contains the main routine which is the standard entry point. Some
typical example application skeleton for MainModule.mod are shown below. All
examples use the same initialization code.
PROC Main()
! set system specific control parameters
InitializeMain;
! set vision specific control parameters
InitVision;
WaitTime 2;
WHILE TRUE DO
! control end-of-cyle or entry requests
CheckSystem;
! ----------------------------
! see example codes below
! ----------------------------
WaitTime 0.05;
ENDWHILE
ENDPROC
Generic solution
Many standard feeding solutions can be handled by the following schematic code.
This is the most simple code example.
It can be used for picking from up to four feeders, e.g. FP 100, FP 300 and FP 400
or any FlexLoader function package.
! loop through desired cameras to perform picks and leave parts.
FOR i FROM nStartAcceptCamera TO nStopAcceptCamera DO
! This call will make the robot pick a part from camera i.
! When using desired position as in example, only parts found
! in position 1 is picked.
PickPartAtCamera i,\DesiredPosition:=1;
! call part specific routine for the found position
IF bDetailInGripper=TRUE THEN
%"Cam"+ValToStr(i)+"Position_"+ValToStr(nPosition)%;
ENDIF
ENDFOR
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Product manual - FlexLoader SC 6000 93
3HAC051768-001 Revision: D
© Copyright 2014-2020 ABB. All rights reserved.
7 RAPID program
7.2 FlexLoader application functionality
Continued