ABB IRB 660 Product Manual page 48

2 FlexGripper-Vacuum
2.3.5. Commissioning
Continued
ENDMODULE
Software commissioning
For the detailed software commissioning procedure, see
on page
46
SetDO DO10_14_PostionSeacher_Backward, 0;
SetDO DO10_13_PostionSeacher_Forward, 1;
WaitDI DI10_03_PostionSeacher_Searched, 1;
SetDO DO10_13_PostionSeacher_Forward, 0;
WaitDI DI10_03_PostionSeacher_Searched, 1;
ENDIF
ENDPROC
93.
FlexGripper-Vacuum function test
3HAC040633-002 Revision: -