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14 FlexLoader Vision Lite
14.4.1 Robot
Continued
Robot data
tGripper1
tGripper2
Zones and zone points
The robot's working range is divided into logical zones. These are positioned as
wedges around robot axis 1 and should be contiguous.
These zones are described in detail in the RAPID reference, see
points on page
Zone checks and division are found in the MainModule::CheckPos sequence. The
movement between the zones is performed in the MainModule::MoveRobotTo
sequence.
Both sequences must be adapted during commissioning of a new FlexLoader
Vision Lite.
Further points
Robot data
pHome
jpSoftwareSyncPos
Sequences
Standardized sequences are used to load and unload details in the machine, using
the detail data from FlexLoader Vision. These sequences must be checked prior
to each commissioning.
The sequences are based on the machine being loaded from the front. If the
machine is loaded from above or if anything else is unusual, some adjustments
are required.
For details see
Further sequences take care of communication, system checks, logic distribution,
and similar. This might also need changing.
For details see
WorldZones
Some WorldZones can be used to verify the presence of the robot in certain areas
and to block certain movements.
Predefined world zones must be configured during commissioning, see
on page
240
269.
FlexLoader Vision Lite functionality on page
FlexLoader machine tool interface functionality on page 283
207.
© Copyright 2014-2018 ABB. All rights reserved.
Description
Used when loading and handling raw materials.
Used when unloading and handling finished details.
Description
Home position for the robot in standby mode.
This point is used for synchronization of the SafeMove
system. It can usually be added to the same place as
pHome.
Product manual - FlexLoader Vision
Zones and zone
272.
WorldZones
3HAC051771-001 Revision: B
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