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13.3.2 FlexLoader application functionality
Overview
The FlexLoader Vision application code handles the complete workflow of details
in the cell (e.g. unloading and loading of details, option handling, picking from
inconveyor and leaving on outconveyor).
The application code consists of a basic executable skeleton, which must be
modified by the integrator in order to match the actual application. However, the
basic structure should be followed to ensure smooth operation.
Main structure
Main.pgf and MainModule.mod are automatically loaded into the controller when
a detail is started from FlexLoader Vision. During the following initialization, project
modules with detail specific information are loaded. This happens upon every start.
MainModule.mod is always the same for all details and all operating modes of the
robot cell. MainModule.mod is responsible for loading the modules that are linked
to the details to be run. Below, these are called ModCamX for a general reference
to any ModCam module, or specifically ModCam1 for details to be run using camera
1, Modcam2 for details to be run using camera 2, and so on. These files can be
renamed according to project needs.
The program memory always contains two more loaded system modules: Vision.sys
for all communication with FlexLoader Vision, and Common.sys for managing
common program data and code.
For further reference, see
Application code vs FlexLoader Vision code
FlexLoader RAPID code has RAPID system code responsible picking parts from
the feeder. The interface between application code and system code for picking
are so called reference positions.
RefPosIn is a robot position from which picking of parts is possible. After picking
a part, the system code returns the robot to RefPosOut. The application part is
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
FlexLoader application functionality on page 264
© Copyright 2014-2018 ABB. All rights reserved.
13 Robot integration
13.3.2 FlexLoader application functionality
Continues on next page
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