ABB FlexLoader Vision Product Manual page 202

13 Robot integration
13.3.5 FlexLoader assistance and utility functionality
Continued
RAPID example tool handling
The following example is typical use of the tool handling system.
Continues on next page
202
\MaxValue:=4000);
! define if pressure supervision signal is to be used
IF bHasAirPressureSensor=TRUE THEN
SetUpAirPreassureControl "diAirPressureOK";
ENDIF
! Do initialization of tools
ClearTools;
SetupTool GRIPPER_1, \tToolData:=tGripper1,
\SignalName:="doOpenGripper1"
\HighSignalFunction:=OPEN_GRIPPER \WaitingTime:=0.5;
SetupTool CALIBRATION_TOOL_1,\tToolData:=tCalibTool1;
SetupTool GRIPPER_2, \tToolData:=tGripper2,
\SignalName:="doOpenGripper2"
\HighSignalFunction:=OPEN_GRIPPER \WaitingTime:=0.5;
! Do initialization of tool loads
ClearToolLoads;
SetupToolLoad RAW_PART\Weight:=5\COGFromTCP:=[0,0,100];
SetupToolLoad MACHINED_PART\Weight:=4\COGFromTCP:=[0,0,90];
! Open grippers and override default wait time (0.5s)
ToolAction\Tool:=GRIPPER_1\Release\WaitingTime:=0.1;
ToolAction\Tool:=GRIPPER_2\Release\WaitingTime:=0.1;
! Set gripper 1 to active, store the tooldata for gripper 1 in
tTool,
! this will also update gripload for robot
tTool:=SetActiveTool(GRIPPER_1);
! Grip a raw part with current active tool, also updates gripload.
ToolAction\Grip\PartType:=RAW_PART;
! Grip a MACHINED_PART with gripper 2
ToolAction\Tool:=GRIPPER_2\Grip\PartType:=MACHINED_PART;
! Do something if total load mass is more than 8 kg
IF getCurrentLoadMass() > 8 THEN
! Do work
ENDIF
! Do a release for gripper 1 if there is a RAW_PART in it
IF getToolLoadType(GRIPPER_1)=RAW_PART THEN
! It is also ok to define exactly which gripper should perform
action
ToolAction\Tool:=GRIPPER_1\Release;
ENDIF
! If you have reason to think someone opened gripper in manual
© Copyright 2014-2018 ABB. All rights reserved.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B