Commissioning - ABB IRB 660 Product Manual

2.3.5. Commissioning

NOTE!
ABB recommend that air connected to the FlexGripper should be: 4-6 bar, filtered (5ym),
1600 L/min and non-lubricated.
After the electrical and pneumatic connection of the FlexGripper, commissioning must be
done to test if the FlexGripper operates correctly.
NOTE!
Only 24V power is used in FlexGripper.
Short circuit protection should be implemented by a fuse in the control cabinet by the
customer.
CAUTION!
Hot parts may cause burns!
Mechanical commissioning
Rapid routines
Routines
Init_Interrupt()
PFPS_MainEntry()
PFPS_PalletPicker()
PFPS_PalletSeacher()
PFPS_PickUpBox()
PFPS_PlaceDownBox() This routine is called when the robot goes to place down boxes.
exePickPlace()
exePallet()
3HAC040633-002 Revision: -
1. Manually test ten zones separately to check that each zone works individually. If not,
check the connection of the air cables..
2. Operate the pallet hook manually to check the lifting fingers move smoothly and reach
the predetermined position. If not, adjust the fixing location of the cylinder rod.
Description
This routine is called to initialize the interrupt program.
According to your using of the sensors, Please modify this routine.
Totally five sensors are installed on the FlexGripper-Vacuum by
default.
This routine is the main entry of the 'Test run' process.
It can not be renamed, modified or deleted.
This routine is called when the pallet hook is set to be open or
close.
This routine is called when the search cylinder goes forward and
backward to search the pallet.
This routine is called when the robot goes to pick up boxes.
This routine is called when the robot goes to pick up and place
down boxes.
The two routines 'PFPS_PickUpBox()' and
'PFPS_PlaceDownBox()' are called during the process.
This routine is called when the robot picks up the pallet for testing
the vacuum hook.
2 FlexGripper-Vacuum
2.3.5. Commissioning
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