ABB IRB 660 Product Manual page 41

NOTE!
The target points 'pHome', 'pPlace' and its offsets must be defined and taught firstly.
PFPS_PlaceDownBox()
PROC PFPS_PlaceDownBox()
TriggL pPlace, v50, tTrigger2, fine, tPFPSVacGrip\WObj:=wobj0; bPartPicked:=FALSE;
ENDPROC
3HAC040633-002 Revision: -
TPWrite " Robot move to place postion! ";
MoveL Offs(pPlace,-10,0,100), v100, z20, tPFPSVacGrip\WObj:=wobj0;
ISleep PFPSVacuumMonitor1;
ISleep PFPSVacuumMonitor2;
TriggIO tTrigger2, 0\GOp:=GoVacuume, 992;
TriggL pPlace, v50, tTrigger2, fine, tPFPSVacGrip\WObj:=wobj0;
WaitTime\InPos, 0.2;
WaitTime\InPos, 2.0;
ISleep PFPSVacuumMonitor3;
ISleep PFPSVacuumMonitor4;
TriggIO tTrigger2, 0\GOp:=GoVacuume, 1023;
WaitTime\InPos, 0.2;
TPWrite " Robot finish to place box! ";
MoveL Offs(pPlace,-10,0,100), v100, z20, tPFPSVacGrip\WObj:=wobj0;
TPWrite " Robot move to home postion! ";
MoveJ pHome, v100, fine, tPFPSVacGrip\WObj:=wobj0;
2 FlexGripper-Vacuum
2.3.5. Commissioning
Continued
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