ABB FlexLoader Vision Product Manual page 147

Robot configuration
Don't start or stop ABB robot
Allow collision restart on pick
Restart from current position
Always restart after collision
Use DOF_ImageTakenCamX
Absolute values from robot
Robot controls stop
When DllRobot is selected, the corresponding DLL file and XML configuration file
must be specified. These files are provided by ABB. Typical settings are
SockekComRobot.xml and SockekComRobot.dll. This configuration is only used
for testing.
DllRobot
Config file
DLL file
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Description
Starting and stopping the robot is handled
by another system component. Useful if an
external master handles the overall task of
selecting details and starting cell compon-
ents.
While picking a detail from the camera field
of view the robot sometimes collides with
another detail. In that case, it can attempt a
restart (from main) in order to maintain the
production process.
A restart is only allowed if the robot is moving
in one of the camera work objects, within
acceptable coordinate ranges.
A restart will not be attempted if the collision
occurs within 3 minutes from start.
A restart is only possible if the robot is able
to clear its path (i.e. sufficiently soft collision).
Instead of restarting from main, the robot re-
starts from its current position.
This setting allows restarting even within the
3 minutes limit mentioned above.
Message from FlexLoader Vision to the robot
that the camera has finished the image ac-
quisition process. Useful in applications with
secondary camera checks and demands on
short cycle times.
Used when setting camera gain, exposure
time, and contrast.
If not checked, these values are sent as per-
centage (1–100).
If checked, the values are sent as shown on
the corresponding sliders on the user inter-
face (1–255).
Allows the robot to control its stopping beha-
vior while disregarding the specified timeout.
After the stop command, FlexLoader Vision
will wait indefinitely for the robot to stop, or
enforces a stop when the operator clicks stop
again.
Useful in cells with extensive time demands
on cycle stops.
Description
Configuration file used for
DllCamera3D.
DLL file used for DllCamera3D.
© Copyright 2014-2018 ABB. All rights reserved.
11 Commissioning
11.1.4 Robot settings
Continued
Default
No
No
No
No
No
No
No
Default
CirrusSensor.xml
CirrusSensor.dll
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