ABB FlexLoader Vision Product Manual page 200

13 Robot integration
13.3.4 FlexLoader Vision Lite functionality
Continued
Cell emptying
In some cases of machine tending, the cell must be emptied from parts, i.e. the
machine shall be unloaded without loading the next part.
For FlexLoader Vision Lite, this behavior is pre-programmed. By setting the output
DOF_EmptyCell to "1", the robot will finish a cycle by unloading a finished part
without loading the next raw part.
The mechanism for changing the signal state (external signal, button, FlexPendant,
...) must be decided and implemented by the integrator.
200
SetupToolLoad MACHINED_PART \InsideGrip:=bGripInsideUnloadDetail
\Weight:=nFinishedDetailWeight
\COGFromTCP:=[0,0,nGripHeightFinishedDetail-(nFinishedDetailHeight/2)];
SetupToolLoad LEFT_OVER_PART
\InsideGrip:=bGripInsideUnloadLeftOverPart
\Weight:=nLeftOverPartWeight
\COGFromTCP:=[0,0,nGripHeightLeftOverPart-(nLeftOverPartHeight/2)];
nLoadCompensate:=calcLoadCompensation(nRawDetailWeight);
! Set correct speed
SetSpeed getCurrentLoadMass();
! Starts inbelt if no part in position
IF DOutput(DOF_InPosition1)=0 StartBelt CAMERA_NO_1;
! Set up outbelt, see manual for documentation about all arguments.
SetUpFeederOutBelt FEEDER_WIDTH, nFeederOutSpeed,
SPACE_BETWEEN_PARTS, SPACE_TO_EDGE, Y_DISTANCE_TO_LEAVE;
SetUpFeederOutDetail maxNumValue(nFinishedDetailDiameter,
nFinishedDetailOuterDiameter),
maxNumValue(nFinishedDetailDiameter,
nFinishedDetailOuterDiameter), nGripHeightFinishedDetail,
\allowedDetailsInHeight:=getAllowedNumberToStack(),
\detailHeight:=nFinishedDetailHeight,
\hasLeftOverPart:=bIsThereLeftOverPart,
\leftOverPartWidth:=nLeftOverPartDiameter,\leftOverPartLength:=
nLeftOverPartDiameter,\leftOverPartHeightToTCP:=nGripHeightLeftOverPart;
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Product manual - FlexLoader Vision
3HAC051771-001 Revision: B