ABB IRB 660 Product Manual page 38

2 FlexGripper-Vacuum
2.3.5. Commissioning
Continued
NOTE!
The hook is open, when 'DO10_02_PalletPicker_Close' is 0 and
'DO10_01_PalletPicker_Open' is 1. While the hook is close, when
'DO10_02_PalletPicker_Close' is 1 and 'DO10_01_PalletPicker_Open' is 0.
PFPS_PalletPicker()
PROC PFPS_PalletPicker()
ENDPROC
NOTE!
The pneumatic search cylinder is forward when 'DO10_14_PostionSeacher_Backward' is 0
and 'DO10_13_PostionSeacher_Forward' is 1. The pneumatic search cylinder is backward
when 'DO10_14_PostionSeacher_Backward' is 1 and 'DO10_13_PostionSeacher_Forward'
36
IF Present (Open) THEN
SetDO DO10_02_PalletPicker_Close,0;
SetDO DO10_01_PalletPicker_Open,1;
ENDIF
IF Present (Close) THEN
SetDO DO10_01_PalletPicker_Open,0;
SetDO DO10_02_PalletPicker_Close,1;
ENDIF
Continues on next page
3HAC040633-002 Revision: -