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The tool menu is activated by the signal DOF_ToolMenuButton. For convenience,
this signal can be connected to a function key.
Routine
TRAP ToolControlMen-
uTrap
EntryControl.mod
This background task monitors the entry request to the cell. As soon as an entry
is requested, a signal is sent to the main program.
This task also ensures that the indication lamp for the entry request lights up/flashes
correctly depending on the status of the machine. The lamp starts to flash when
entry is requested and stays lit when entry is permitted. When the robot runs in
normal operation, the lamp is turned off.
Routine
PROC main()
IndicationLights.mod
The background task with module IndicationLights.mod handles the indicator lights
according to operational status.
Routine
PROC main()
PROC BlueLight()
PROC GreenLight()
PROC RedLight()
PROC WhiteLight()
PROC YellowLight()
PROC NoLight()
PROC VisionLightsOn-
Control()
GlobalCodeAndConfig.sys
This is a module containing global support functions that could be used in any
machine. It also includes configuration switches and global standard constant
declarations.
Routine
FUNC num cal-
cInchToMM()
FUNC num calcLb-
ToKg()
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
Description
This trap displays menu for control of Tools.
Normally connected to function key 1 on TeachPendant.
Description
Initiates entry control handling.
Description
Main loop for task.
Sets blue light in RGB.
Sets green light in RGB.
Sets red light in RGB.
Sets white light in RGB.
Sets yellow light in RGB.
Sets no light in RGB.
Controls and checks if lights would be switched on or off.
CAUTION
Always make sure configuration switches are set to values matching the current
cell.
Description
Calculates mm value from Inch.
Calculates Kg value from Lb.
© Copyright 2014-2018 ABB. All rights reserved.
B FlexLoader RAPID reference
B.6 FlexLoader assistance and utility functionality
Continued
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