ABB FlexLoader Vision Product Manual page 269

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 adjacent (or overlapping).
Robot data
ZONE_HOME
ZONE_DOOR
ZONE_FEEDLINE
ZONE_OUTBELT
ZONE_MACHINE1,
ZONE_MACHINE2,
ZONE_MACHINE3
ZONE_MARKER
ZONE_WASHER
ZONE_AIR_CLEAN
ZONE_SAMPLE_OUTLET
ZONE_DEBURR
ZONE_TURN_STATION
ZONE_REGRIP
The following constants determine the start angle and stop angle for the these
work zones of the robot. All the values describe degrees for robot axis 1.
Robot data
ZONE_HOME_START
ZONE_HOME_STOP
ZONE_FEEDLINE_START
ZONE_FEEDLINE_STOP
ZONE_OUTBELT_START
ZONE_OUTBELT_STOP
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Note
Set zone start and stop values to 0 if the zone is not used.
© Copyright 2014-2018 ABB. All rights reserved.
B FlexLoader RAPID reference
B.3 FlexLoader application functionality
Description
The home zone for the robot, the
robot can reach its home position
within this zone.
The door zone for the robot, the ro-
bot can reach the service position
from this zone.
The zone in which FeedLine is loc-
ated.
Because the outconveyor is not al-
ways positioned together with the
inconveyor, the outconveyor has its
own zone.
The zone in which the machine is
located.
The zone in which the marker ma-
chine is located.
The zone in which the wash box is
located.
The zone in which the blow box is
located.
The zone in which the sample detail
is located.
The zone in which the deburring is
located.
The zone in which the turn station
is located.
The zone in which the regrip station
is located.
Description
Start of home zone.
End of home zone.
Start of Feedline zone.
End of Feedline zone.
Start of outconveyor zone.
End of outconveyor zone.
Continued
Handover point in zone
pViaHome
pViaDoor
pViaFeedLine
pViaOutbelt
pViaMachine1, pViaMa-
chine2, pViaMachine3
pViaMarker
pViaWasher
pViaAirClean
pViaSampleOutlet
pViaDeburr
pViaTurnStation
pViaRegrip
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