ABB FlexLoader Vision, Руководство по эксплуатации продукта

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13.3.4 FlexLoader Vision Lite functionality
Overview
The application code for FlexLoader Vision Lite provides an extension to the general
teachin described previously.
This extension is used for parameter-based simplified teachin for upright standing
cylindrical details, the so called FlexLoader Vision Lite. Normally, this code needs
no changes.
For further reference, see FlexLoader Vision Lite functionality on page 272
The RAPID code follows the same structure as described in FlexLoader application
functionality on page 191 . It contains a preconfigured MainModule.mod,
preconfigured machine tool sequences, and a parameter interface to FlexLoader
Vision.
RAPID example ModCam1.mod
A specialized ModCam1.mod contains the application code for parameter-based
simplified teachin for upright standing cylindrical details (i.e. FlexLoader Vision
Lite). A generic robot program based on geometrical detail data is executed. No
robot programming is necessary for different details, and teachin is reduced to
entering a few geometrical parameters in FlexLoader Vision.
The module contains parametric movement instructions, option handling and
machine tool handling.
In this case, a single ModCam1.mod is used for all details, and only parametrized
code can be executed. It is located in HOME\FlexLoaderVisionLite\.
Note
The handling routines are called for each detail. Make sure your code works with
all details. If not, activate the special robot program option in FlexLoader Vision.
Special robot program option for detail-specific tasks
A detail-specific ModCam1.mod can be used and stored at a different location.
Option handling, e.g. deburring, air cleaning or marking, can be handled on detail
level.
RAPID example for InitializeCam1
! Belt setting: Run belt directly after last detail is picked
BELT_ACTION{CAMERA_NO_1}:=RUN_ONE_DETAIL;
! Camera setting: Never grab an image automatically
ALLOW_AUTO_GRAB{CAMERA_NO_1}:=FALSE;
! Set up tool data
ClearToolLoads;
SetupToolLoad RAW_PART \InsideGrip:=bGripInsideLoadDetail
\Weight:=nRawDetailWeight
\COGFromTCP:=[0,0,nGripHeightRawDetail- (nRawDetailHeight/2)];
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Product manual - FlexLoader Vision 199
3HAC051771-001 Revision: B
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13 Robot integration
13.3.4 FlexLoader Vision Lite functionality