ABB IRB 660 Product Manual page 44

2 FlexGripper-Vacuum
2.3.5. Commissioning
Continued
Reference Rapid codes
Gripper function is checked with the following rapid codes. Please modify the data in rapid
codes as needed before using it. The rapid codes are as follows:
MODULE MainModule
1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROC main()
\ZoneNo7:=7, \ZoneNo8:=8, \ZoneNo9:=9, \ZoneNo10:=10;
StopVaccum 1, \ZoneNo2:=2, \ZoneNo3:=3, \ZoneNo4:=4, \ZoneNo5:=5, \ZoneNo6:=6,
\ZoneNo7:=7, \ZoneNo8:=8, \ZoneNo9:=9, \ZoneNo10:=10;
42
Local PERS robtarget
pPick:=[[1908.03,-446.57,1007.54],[1.72802E-06,0.0867458,-0.996231,-5.63714E-07],[-
PERS tooldata
tPFPSVacGrip:=[TRUE,[[0,0,439],[1,0,0,0]],[80,[0,0,200],[1,0,0,0],0,0,4.097]];
PERS Loaddata PFPSLoadEmpty:=[0.001,[0,0,0.001],[1,0,0,0],0,0,0];
PERS num cycletime:=3.111;
PERS num pace:=0;
var clock MyClock;
MoveJ pPick, vmax, fine,tPFPSVacGrip\WObj:=wobj0;
ConfJ \off;
confl \off;
pace:=0;
clkreset MyClock;
clkstart MyClock;
for i from 1 to 5 do
StartVaccum 1, \ZoneNo2:=2, \ZoneNo3:=3, \ZoneNo4:=4, \ZoneNo5:=5, \ZoneNo6:=6,
WaitTime 0.2;
GripLoad PFPSLoadFull;
MoveL Offs(pPick,0,0,400),vmax,z200, tPFPSVacGrip\WObj:=wobj0;
MoveL Offs(pPick,0,2000,400), vmax, z200, tPFPSVacGrip\WObj:=wobj0;
MoveL Offs(pPick,0,2000,0), vmax, fine, tPFPSVacGrip\WObj:=wobj0;
WaitTime 0.1;
GripLoad PFPSLoadEmpty;
!Gripper start to back!
MoveL Offs(pPick,0,2000,400), vmax, z200, tPFPSVacGrip\WObj:=wobj0;
MoveL Offs(pPick,0,0,400),vmax,z200, tPFPSVacGrip\WObj:=wobj0;
MoveL pPick,vmax,fine, tPFPSVacGrip\WObj:=wobj0;
endfor
waituntil\inpos,true;
clkStop MyClock;
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3HAC040633-002 Revision: -