ABB IRB 660 Product Manual page 97

Function
type
Palle-
tSearch
Product
drop
detection
Group activity
Group function is used for build vacuum groups. Every two adjacent vacuum cups share a
vacuum generator. Every vacuum cup pair and the opposite vacuum cup pair on the other
vacuum rail form one control zone. There are totally ten vacuum zones which can be
controlled separately.
Touch Group vacuum button, the following interface shows up:
en1011051
3HAC040633-002 Revision: -
Function
Action description
name
Forward Search cylinder move forward
Backward Search cylinder move backward
To detect if the product drop down.
When the product is gripped, the
corresponding photoelectric
sensor would keep light on.
3 FlexGripper UI
3.2.2.1. FlexGripper function test
Signal status
DO10_03_PositionSear
cher_Forward turns to 1
and lights up
DO10_04_PositionSear
cher_Backward turns to
1 and lights up
If one of the products
drops, the correspond-
ing signal in
DI10_05_PartCheck1
DI10_06_PartCheck2
DI10_07_PartCheck3
DI10_08_PartCheck4
would turn to 0 and turn
off.
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