ABB FlexLoader Vision Product Manual page 196

13 Robot integration
13.3.2 FlexLoader application functionality
Continued
RAPID example ModCam1.mod
The provided detail specific application code offers various possibilities.
Generic teachin – Everything is detail-specific
Application code for a general teachin.
Robot tasks as picking, machine tending, or leaving on the outbelt, have to be
programmed manually. A skeleton is provided, at location
HOME:\CustomerFolder\ModCam1.mod.
However, no general robot program can be provided for unknown details, so the
skeleton has to be adapted to each new detail. Positions, movements and option
handling have to be modified or generated for each new detail. This is the most
general and open approach to machine tending.
Programming of e.g. Cam1Position_1, Cam1Position_2, Cam2Position_1... for all
used cameras and positions must be done.
RAPID example for InitializeCam1
RAPID example MoveRobotTo.mod
The principal motion in the FlexLoader Vision is controlled by the
MoveRobotTo-routine, which moves the robot from known zone positions to a
target zone position. From these zone positions (via positions), movement within
certain areas of the FlexLoader Vision can be initiated.
For detailed reference on zone and via positions, see
page 268
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196
Incr nImageRetries{CAMERA_NO_2};
IF nImageRetries{CAMERA_NO_1} > MAX_IMAGE_RETRIES{CAMERA_NO_1}
THEN
! Create alarm or inform user in some other way
EXIT;
ENDIF
ENDWHILE
! handle parts according to results from vision data
RefPosOutCam_2;
%"Cam"+ValToStr(CAMERA_NO_1)+"Position_"+ValToStr(nPosition)%;
ENDIF
Note
These routines are provided as example code. Always ensure that they are
working with the actual details and processes.
! Belt setting: Run belt directly after last detail is picked
BELT_ACTION{CAMERA_NO_1}:=RUN_ONE_DETAIL;
! Camera setting: Never grab an image automatically
ALLOW_AUTO_GRAB{CAMERA_NO_1}:=FALSE;
! Make decision based on current zone
IF CheckPos()<>ZONE_MACHINE1 MoveRobotTo ZONE_MACHINE1;
© Copyright 2014-2018 ABB. All rights reserved.
MoveRobotVia.mod on
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B