Table of Contents
Advertisement
Routine
LoadCameraModules()
Main()
PickCamera()
ModCam1.mod
ModCam1.mod is always supplied with FlexLoader Vision. It handles the part
specific programming, e.g. loading, unloading, marking, air cleaning.
Two example modules are delivered, one for operation with simplified TeachIn
(FlexLoader Vision Lite), the other for standard operation with standard TeachIn.
Refer to chapter on robot program.
Standard functionality
Routine
AllowManualModeFeed-
er_1()
BlockManualModeFeed-
er_1()
Cam1Position_n()
InitializeCam1()
PickCam_1()
RefPosInCam_1()
RefPosOutCam_1()
StopRoutineCam1()
Additional functionality for FlexLoader Vision Lite use
ModCam1.mod for FlexLoader Vision Lite applications contains extended templates
and lathe specific RAPID code than allows for a fully parametric teachin.
Specifically, it contains the routine MainRoutine that checks the machine tool state
and loads and unloads the machine tool according to commands from the machine.
Local routines then cover all allowed combinations for loading and unloading to
main and sub spindel, e.g. LoadMachine_MAIN_UnLoad_SUB,
UnloadLeftOverPartMAIN, LoadMachine_SUB, UnloadMachine_MAIN_Load_MAIN.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Description
Loads relevant module files for each camera. The name of each
module that is to be loaded is provided by FlexLoader Vision.
Pre-programmed and should only be modified where it is explicitly
stated that conditions must or can be added.
Called up when the robot is to retrieve a new detail by the camera.
This routine calls up several sub-routines to request new coordin-
ates and perform movements to and from the pick position.
Description
This function allows manual mode for feeder under camera 1.
This function blocks manual mode for feeder under camera 1.
Part specific handling routine for camera 1 depending in which
position FlexLoader Vision identified the detail.
Initializes the camera and detail specific data.
This routine performs the actual picking of a detail from the con-
veyor at camera position.
This routine is called to approach an intermediate position towards
the conveyor before picking. Update this position to suite the
current application.
This is an intermediate position used when leaving the picking
area. Update this position to suite the current application.
This procedure is executed when FlexLoader Vision is stopped.
© Copyright 2014-2018 ABB. All rights reserved.
B FlexLoader RAPID reference
B.3 FlexLoader application functionality
Continues on next page
Continued
265
Advertisement
Table of Contents
