ABB IRB 660 Product Manual page 47

CASE 10:Set DO10_12_Zone10;
ENDPROC
PROC ResetZone(num zone)
CASE 1:Reset DO10_03_Zone1;
CASE 2:Reset DO10_04_Zone2;
CASE 3:Reset DO10_05_Zone3;
CASE 4:Reset DO10_06_Zone4;
CASE 5:Reset DO10_07_Zone5;
CASE 6:Reset DO10_08_Zone6;
CASE 7:Reset DO10_09_Zone7;
CASE 8: Reset DO10_10_Zone8;
CASE 9:Reset DO10_11_Zone9;
CASE 10:Reset DO10_12_Zone10;
ENDPROC
PROC PFPS_PalletPicker(\switch Open | switch Close)
ENDPROC
PROC PFPS_PalletSeacher(\switch Forward | switch Back | switch Search)
3HAC040633-002 Revision: -
ENDTEST
TEST zone
ENDTEST
IF Present (Open) THEN
SetDO DO10_02_PalletPicker_Close,0;
SetDO DO10_01_PalletPicker_Open,1;
ENDIF
IF Present (Close) THEN
SetDO DO10_01_PalletPicker_Open,0;
SetDO DO10_02_PalletPicker_Close,1;
ENDIF
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
2 FlexGripper-Vacuum
2.3.5. Commissioning
Continued
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