Flexloader Vision Lite Functionality - ABB FlexLoader Vision Product Manual

13.3.4 FlexLoader Vision Lite functionality

Overview
The application code for FlexLoader Vision Lite provides an extension to the general
teachin described previously.
This extension is used for parameter-based simplified teachin for upright standing
cylindrical details, the so called FlexLoader Vision Lite. Normally, this code needs
no changes.
For further reference, see
The RAPID code follows the same structure as described in
functionality on page
preconfigured machine tool sequences, and a parameter interface to FlexLoader
Vision.
RAPID example ModCam1.mod
A specialized ModCam1.mod contains the application code for parameter-based
simplified teachin for upright standing cylindrical details (i.e. FlexLoader Vision
Lite). A generic robot program based on geometrical detail data is executed. No
robot programming is necessary for different details, and teachin is reduced to
entering a few geometrical parameters in FlexLoader Vision.
The module contains parametric movement instructions, option handling and
machine tool handling.
In this case, a single ModCam1.mod is used for all details, and only parametrized
code can be executed. It is located in HOME\FlexLoaderVisionLite\.
Special robot program option for detail-specific tasks
A detail-specific ModCam1.mod can be used and stored at a different location.
Option handling, e.g. deburring, air cleaning or marking, can be handled on detail
level.
RAPID example for InitializeCam1
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
191. It contains a preconfigured MainModule.mod,
Note
The handling routines are called for each detail. Make sure your code works with
all details. If not, activate the special robot program option in FlexLoader Vision.
! 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;
! Set up tool data
ClearToolLoads;
SetupToolLoad RAW_PART \InsideGrip:=bGripInsideLoadDetail
\Weight:=nRawDetailWeight
\COGFromTCP:=[0,0,nGripHeightRawDetail- (nRawDetailHeight/2)];
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13.3.4 FlexLoader Vision Lite functionality
FlexLoader Vision Lite functionality on page 272
13 Robot integration
FlexLoader application
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