ABB IRB 660 Product Manual page 40

2 FlexGripper-Vacuum
2.3.5. Commissioning
Continued
NOTE!
The target points 'pHome', 'pPick' and its offsets must be defined and taught firstly.
PFPS_PickUpBox()
PROC PFPS_PickUpBox()
ENDPROC
38
MoveJ pHome, v100, fine, tPFPSVacGrip\WObj:=wobj0;
TPWrite " Robot move to pick postion! ";
MoveL Offs(pPick,-10,0,100), v100, z20, tPFPSVacGrip\WObj:=wobj0;
TriggIO tTrigger1, 20\GOp:=GoVacuume, 0;
TriggL pPick, v100, tTrigger1, fine, tPFPSVacGrip;
IWatch PFPSVacuumMonitor1;
IWatch PFPSVacuumMonitor2;
IWatch PFPSVacuumMonitor3;
IWatch PFPSVacuumMonitor4;
bPartPicked:=TRUE;
TPWrite " Robot start to pick up box! ";
MoveL Offs(pPick,0,0,50), v50, z10, tPFPSVacGrip\WObj:=wobj0;
WaitTime\InPos, 0;
MoveJ pHome, v100, fine, tPFPSVacGrip\WObj:=wobj0;
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3HAC040633-002 Revision: -