ABB IRB 660 Product Manual page 107

3 FlexGripper UI
3.2.3.3. Test run
Continued
Press the Product Pick&place button, the robot implements the exePickPlace routing which
includes a part pick and place cycle. Press the Pallet pick&place button, the robot will
implement the exePallet routing which includes a series action: pallet search, pick pallet and
place.
NOTE!
when pressing any of the test buttons, a message shows prompting you to press the run button.
Press the run button. Before the test, the TCP should be edited according to the real payload
in testrun.
In the pick operation and place operation, the loads of the FlexGripper are different. So the
user must set the new TCP, payload and work object according to the different load situation.
For FlexGripper-Clamp (FlexGripper-Clamp 1, FlexGripper-Clamp 2) and FlexGripper-
Claw, after entering the Test run interface:
en1011066
Press the Pick&place test button, the robot implements the exePickPlace routing which
includes a part pick and place cycle.
Note: when pressing any of the test buttons, a message shows prompting you to press the run
button. Press the run button. Before the test, the TCP should be edited according to the real
payload in test run, and all the robot target positions must be accurate.
In the pick operation and place operation, the loads of the FlexGripper are different. So the
user must set the new TCP, payload and work object according to the different load situation.
3HAC040633-002 Revision: - 105