ABB FlexLoader Vision Product Manual page 210

13 Robot integration
13.4.1 Communication between FlexLoader Vision and the robot
Continued
From FlexLoader Vision
The following status signals are used in the communication. The signals are digital
outputs and must be defined in the robot.
Signal
DOF_Coord
DOF_MotSupTrigg
DOF_Error
DOF_EndCycle
DOF_CycleEnded
DOF_CycleOn
DOF_AutoOn
DOF_ResetEStop
DOF_ MotorsOn
DOF_ StartAtMain
DOF_ StopEndInstr
DOF_ MotOnStart
DOF_RunFeeder1...4
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From the robot
nSlaveSelectIdCam1..4
nExposureTimeCam1 .. 4
nContrastCam1..4
nGainCam1..4
bResetPickedCam1..4
Description
Used to signal to the robot program that new coordinates are
available.
Cross-connected to the system output MotSupTrigg. Used so
that FlexLoader Vision can receive the collision information.
Cross-connected to the system output Error. Used so that
FlexLoader Vision can receive information about fault incidents.
Used so that FlexLoader Vision can stop the robot when a cor-
rect cycle is completed and not in the middle of a cycle.
Response signal from robot on DOF_EndCycle.
Cross-connected to the system output CycleOn. This signal is
checked before the coordinates are sent. If the robot is not
running, an alarm is displayed and FlexLoader Vision waits
until the robot program starts again before coordinates are sent.
Cross-connected to the system output AutoOn. This signal is
checked upon startup and stop through FlexLoader Vision.
Cross-connected to the system input ResetEStop. Used so that
FlexLoader Vision can automatically start the robot motors after
an emergency.
Cross-connected to the system input MotorOn. Used so that
FlexLoader Vision at the selected option can start the robot via
system inputs.
Cross-connected to the system input MotorOn. Used so that
FlexLoader Vision at the selected option can start the robot via
system inputs.
Cross-connected to the system input MotorOn. Used so that
FlexLoader Vision at the selected option can stop the robot via
system inputs.
Cross-connected to the system input MotorOn. Used so that
FlexLoader Vision at the selected option can start the robot via
system inputs.
Cross-connected to RunFeeder1...4. Used by VisionCom to
run supply equipment under camera 1-4.
© Copyright 2014-2018 ABB. All rights reserved.
Description/result
Replaces the detail in FlexLoad-
er Vision for the specified cam-
era based on the selected ID
number, i.e. the value of
nSlaveSelectIdCam1..4.
Sets the exposure time for
camera 1..4 within the area
0%–100%.
Sets the contrast for camera
1..4 within the area 0%–100%.
Sets the gain for camera 1..4
within the area 0%–100%.
Resets the previous information
on already picked details.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B