Communication Between Master And Slave - ABB FlexLoader Vision Product Manual

13.4.3 Communication between Master and Slave

Signal definitions
The following commands can be used:
Master
AutomaticStart
byte{0;1}
CycleStop
byte{0;1}
SelectIdCam1..4
byte{0;1}
ID-No.
double word
The default handshaking process is performed as follows:
The command must be 0 before the sequence begins. The command is then set
to 1. The machine begins to carry out the desired operation, after which the reply
is set to 1. To confirm the receipt of the reply, the command must be set back to
0, after which the reply is set to 0. Note that in most cases there are two alternative
replies.
When the program is started all signals are reset to 0.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
13.4.3 Communication between Master and Slave
FlexLoader Vision
>
< AutomaticStrtOk
byte{0;1}
< AutomaticStrtFail
byte{0;1}
>
< CycleStopOk
byte{0;1}
< CycleStopFail
byte{0;1}
>
>
< SelectIdOk
byte{0;1}
< SelectIdNok
byte{0;1}
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13 Robot integration
Description
Starts the system. Reply with either Automat-
icStrtOk or AutomaticStrtNok. For handshak-
ing, see diagram below.
System is started.
Error when starting system.
Stops the system. Reply is either CycleSto-
pOk or CycleStopNok. For handshaking, see
diagram below.
The system is stopped.
Error when stopping the system.
Used for selecting a new ID number. Reply
is either SelectIdOk or SelectIdFail. For
handshaking, see diagram below.
ID-Value is locked by the SelectIdCamX
command and must therefore be set before-
hand.
Choice of ID successful.
Choice of ID unsuccessful.
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