ABB FlexLoader Vision Product Manual page 280

B FlexLoader RAPID reference
B.6 FlexLoader assistance and utility functionality
Continued
Routine
PROC setToolLoad-
Type(num tool,num
partType)
FUNC tooldata SetActiv-
eTool(num tool)
PROC SetUpAirPreas-
sureControl(string sig-
nalName)
PROC SetupTool(num
tool,\switch fixedMoun-
ted|switch robotMoun-
ted,\toolData
tToolData,\string Signal-
Name,\num HighSignal-
Function,\num Waiting-
Time,\string HighSignal-
ValueText,\string
LowSignal-
ValueText,\string Ro-
botIdText,\string Block-
ActionSignal)
PROC SetupTool-
Load(num LoadNum-
ber,\bool Inside-
Grip,\loaddata partLoad-
Data,\num Weight,\pos
COGFromTCP)
PROC ToolAction(\num
Tool,\switch Grip|switch
Release,\switch
On|switch Off,\num
PartType,\num Waiting-
Time)
PROC Updat-
eToolData(num
Tool,\toolData
tToolData,\string Signal-
Name,\num HighSignal-
Function,\num Waiting-
Time)
ToolControlMenu.mod
The module ToolControlMenu.mod handles the FlexPendant menu for manual
control of tool signals.
This module depends on the use of Tool.sys in every robot motion task. As long
as Tool.sys is used, no further input is needed in ToolControlMenu.mod.
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280
Description
Sets the current load type in tool. Note, current load type for
grippers is also updated automatically when performing a tool
action such as grip or release.
Sets active tool and returns tool data for the activated tool. Also
updates grip load data for all tools attached to robot.
Set up name of correct air pressure signal to check before per-
forming any tool action.
Setup of a tool. This routine must be called at startup once for
each tool used in the current program.
It is also possible to define fixed tools (not mounted on robot) and
control them from this module.
Note
A tool is here viewed as a suction cup, gripper or compressed air
valve. This means there could be several tools attached to the
robot at the same time.
Note
This module and routine does not open/close gripper or ask if
anything is in gripper at start. All those kind of things must be
done from user program.
Setup of a possible tool load. This routine must be called at startup
once for each load type that can be used in the currently run pro-
gram.
Note
This will change depending on detail program currently run. For
example, load types are normally a raw part, machined part and
maybe a left over part.
Performs a tool action by set/reset of correct tool output signal.
Also calculate grip load total for all tools attached to robot.Then
waits a defined time to make sure the action is finished before
robot is moving on.
In manual mode operator must confirm before tool action is per-
formed. If an air pressure sensor is used, it must be ok before tool
action is performed.
Updates tool definitions for a already declared tool.
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Product manual - FlexLoader Vision
3HAC051771-001 Revision: B