ABB FlexLoader Vision Product Manual page 203

All tools that are defined through the tool handling system can be access through
the tool control menu.
RAPID example entry control
Entry requests are handled in a background task. The main task uses the
CheckSystem routine to test and react to entry and stop requests.
RAPID example indication lights
The indication light is controlled automatically through the user messaging system.
The indication lamps are switched on and off depending on the current alarm,
warning, question and information status. Indication light control is executed in a
background task.
Conditions and indication light colors are defined during program initialization. A
color is assigned to all conditions, and the integrator selects flashing or static
lights. In most cases RGB lighting is used.
Sometimes a traditional light tower with discrete signals for every color is used. In
this case, a different setup can be used:
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
IF isUserInput(GRIPPERS_EMPTY\nTRUEButton:=TEXT_YES
\nFALSEButton:=TEXT_NO
\ShowInPickMT:=bShowMessageBoxesInPickMT)=TRUE THEN
! Operator answered that all grippers empty, call procedure to
! empty memories for what is held in grippers.
! This will also update gripload.
ClearToolPartStatus;
ENDIF
! You might need to release load in GRIPPER_2 only if that tool
! is currently active
IF getActiveTool()=GRIPPER_2 THEN
ToolAction\Tool:=GRIPPER_2\Release;
ENDIF
! predefined colors: RED, GREEN, BLUE, WHITE, YELLOW
IndicationLightsSetupRGBLights \AlarmFlashingColor:=RED
\CycleOnColor:=GREEN \InformationFlashingColor:=WHITE
\QuestionFlashingColor:=BLUE \WarningFlashingColor:=YELLOW;
! static light instead
IndicationLightsSetupRGBLights \AlarmStaticColor=RED
\CycleOnColor:=GREEN \InformationStaticColor=WHITE
\QuestionStaticColor=BLUE \WarningStaticColor=YELLOW;
! predefined lamps: BLUE_LAMP, GREEN_LAMP, ORANGE_LAMP,
! RED_LAMP, WHITE_LAMP, YELLOW_LAMP
LightTowerSetup\AlarmType:=RED_LAMP\WarningType:=ORANGE_LAMP
\InformationType:=WHITE_LAMP \QuestionType:=BLUE_LAMP
\CycleOn:=GREEN_LAMP \FlashLightTower;
© Copyright 2014-2018 ABB. All rights reserved.
13.3.5 FlexLoader assistance and utility functionality
13 Robot integration
Continued
Continues on next page
203