ABB IRB 660 Product Manual page 42

2 FlexGripper-Vacuum
2.3.5. Commissioning
Continued
NOTE!
The target points 'pSearch' and its offsets, 'pPickPallet' and its offsets, 'pHome', 'pPlace'
and its offsets, 'pPick' and its offsets must be defined and taught firstly.
exePallet()
During the process, first the robot with the FlexGripper-Vacuum goes to search the pallet,
then pick up the pallet, finally place down the pallet.
PROC exePallet()
v10, tPFPSVacGrip\WObj:=wobj0;
40
TPWrite " Robot move to test vacuum postion! ";
MoveJ pSearch, v100, fine, tPFPSVacGrip\WObj:=wobj0;
TPWrite " Robot ready to search pallet! ";
PFPS_PalletPicker \Open;
PFPS_PalletSeacher \Search;
IWatch PFPSPosSeachMonitor;
MoveL Offs(pSearch,0,0,-480), v100, fine, tPFPSVacGrip\WObj:=wobj0;
ISleep PFPSPosSeachMonitor;
PFPS_PalletSeacher \Search;
TPWrite " Robot start to search pallet! ";
SearchL\Stop, DI10_03_PostionSeacher_Searched\Flanks, pPickPallet, pSearchEnd,
PFPS_PalletSeacher \Back;
MoveL Offs(pPickPallet,0,0,-13), v30, fine, tPFPSVacGrip\WObj:=wobj0;
WaitTime\InPos, 0.2;
TPWrite " Robot start to pick up pallet! ";
PFPS_PalletPicker \Close;
MoveL Offs(pSearch,0,0,-480), v30, fine, tPFPSVacGrip\WObj:=wobj0;
MoveJ pSearch, v100, fine, tPFPSVacGrip\WObj:=wobj0;
WaitTime\InPos, 2;
TPWrite " Robot start to place down pallet! ";
MoveL Offs(pSearch,0,0,-480), v100, fine, tPFPSVacGrip\WObj:=wobj0;
MoveL Offs(pPickPallet,0,0,-18), v30, fine, tPFPSVacGrip\WObj:=wobj0;
PFPS_PalletPicker \Open;
MoveL Offs(pPickPallet,0,0,-480), v30, fine, tPFPSVacGrip\WObj:=wobj0;
MoveJ pSearch, v100, fine, tPFPSVacGrip\WObj:=wobj0;
TPWrite " Robot finish pick pallet test! ";
WaitTime\InPos, 2;
PFPS_PalletPicker\Close;
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
TPErase;
TPWrite " Warning!the pallet's position or the Forward sensor of ";
Continues on next page
3HAC040633-002 Revision: -