Table of Contents
Advertisement
13 Robot integration
13.3.2 FlexLoader application functionality
Continued
responsible to handle parts, starting from RefPosOut, and handling all RAPID code
until the robot can be returned to RefPosIn.
xx1800002289
Example files
The following example programs show the principle structure of the robot code
and how the robot program should communicate with FlexLoader Vision.
There is no guarantee that any of the examples work unless the program has been
adjusted and tested for the specific robot cell.
RAPID example MainModule.mod
MainModule.mod contains the main routine which is the standard entry point. Some
typical example application skeleton for MainModule.mod are shown below. All
examples use the same initialization code.
Continues on next page
192
WARNING
After changing MainModule.mod or any ModCamX module, these modules MUST
be saved, otherwise the changes will be lost upon next start due to the automatic
program loading.
PROC Main()
! set system specific control parameters
InitializeMain;
! set vision specific control parameters
InitFlexLoaderVision;
WaitTime 2;
WHILE TRUE DO
! control end-of-cyle or entry requests
CheckSystem;
! ----------------------------
! see example codes below
! ----------------------------
WaitTime 0.05;
ENDWHILE
ENDPROC
© Copyright 2014-2018 ABB. All rights reserved.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Advertisement
Table of Contents
