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11 Commissioning
11.3.5 Robot installation
Continued
EIO_ADD.CFG is the file that configures inputs and outputs in the robot. Normally,
the signals to the PLC, the gripper and standard machine communication are
defined as virtual signals. The physical location of the signals on the I/O block
must be specified by the integrator. Edit the file before copying it to the robot if it
is necessary for the relevant application.
Load the configuration files by your method of choice, either through the Flexendant
or through RobotStudio. Warm start the robot after loading the SYS_ADD.CFG
configuration file.
When all configuration files and application files have been loaded, the robot must
be restarted. Messages that the program pointer has changed are normal.
Coordinate system for the robot gripper
When setting the gripping positions during teachin, FlexLoader Vision always draws
a blue line independent of the areas that visualize the gripping fingers themselves.
The blue line shows in which direction the positive x direction should be for the
robot gripper. The z direction is always down or into the image.
When defining grippers, it is usually necessary to choose how x should point in
relation to how the fingers are positioned. When defining the picking position, it is
possible to rotate the entire gripper to match the detail correctly.
Depending on how the gripper and the cell look physically, it may be important to
make sure these rotations are exactly correct.
In order to provide more setting options, it is also possible to make adjustments
for the x direction of the robot in the underlying configuration. This allows rotation
z in teachin to be 0 as a standard which seems more natural to the user.
Normally, there is no additional rotation imposed from the underlying configuration.
In cases where standard double grippers are used, the mechanical design requires
this direction to be rotated 180 degrees. In these cases, the underlying configuration
is adjusted to +180 degrees (see parameter OffsetAngleXY in
page
166
146).
© Copyright 2014-2018 ABB. All rights reserved.
Robot settings on
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
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