ABB IRB 660 Product Manual page 39

is 0. While 'DO10_14_PostionSeacher_Backward' is 0 and
'DO10_13_PostionSeacher_Forward' is also 0, there is no pressure in the cylinder which
means a pallet is searched.
PFPS_PalletSeacher()
PROC PFPS_PalletSeacher()
ENDPROC
3HAC040633-002 Revision: -
IF Present (Forward) THEN
SetDO DO10_14_PostionSeacher_Backward, 0;
SetDO DO10_13_PostionSeacher_Forward, 1;
WaitDI DI10_03_PostionSeacher_Searched, 1;
ENDIF
IF Present (Back) THEN
SetDO DO10_13_PostionSeacher_Forward, 0;
SetDO DO10_14_PostionSeacher_Backward, 1;
WaitDI DI10_04_PostionSeacher_Backed, 1;
ENDIF
IF Present (Search) THEN
SetDO DO10_14_PostionSeacher_Backward, 0;
SetDO DO10_13_PostionSeacher_Forward, 1;
WaitDI DI10_03_PostionSeacher_Searched, 1;
SetDO DO10_13_PostionSeacher_Forward, 0;
WaitDI DI10_03_PostionSeacher_Searched, 1;
ENDIF
2 FlexGripper-Vacuum
2.3.5. Commissioning
Continued
Continues on next page
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