Communication Information; Communication Between Flexloader Vision And The Robot - ABB FlexLoader Vision Product Manual

13 Robot integration

13.4.1 Communication between FlexLoader Vision and the robot

13.4 Communication information

13.4.1 Communication between FlexLoader Vision and the robot
FlexLoader Vision and the robot communicates via PC SDK and Robot
WebServices. The information is transmitted between the robot and FlexLoader
Vision through direct reading/writing to/from variables and I/O signals.
Operation in a standard system
From FlexLoader Vision
x
y
z
pZ
rotX
rotY
rotZ
position
action
nAmountOfDetails
nAmountOfDetails1
nAmountOfDetails2
nAmountOfDetails3
DOF_Coord
cam
The result information reports how many pickable details there are in the image
field: No details (action=1), precisely one detail (action=2), or more than one detail
(action=4).
When the option for multi-coordinate gripping is used, additional result information
is available: More than one detail, but no new images must be taken after picking
(action=256).
When a 3D camera is used, the following additional result information is available:
Replace pallet (action=8), pick interlayers (action=16), pick interlayers and replace
pallet immediately afterwards (action=32).
Continues on next page
208
From the Robot
bGrab
bGrab1..4
bCoord
© Copyright 2014-2018 ABB. All rights reserved.
Description
Take new image, with camera 1..4
X-value
Y-value
Z-value
Z-value over picking position
Rotation around x-shaft
Rotation around y-shaft
Rotation around z-shaft
Detail position
Result information
Detail quantity (option)
Detail amount 1 (option)
Detail amount 2 (option)
Detail amount 3 (option)
Set to coordinates printing
Coordinator received
Camera number
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B