ABB FlexLoader Vision Product Manual page 284

B FlexLoader RAPID reference
B.7 FlexLoader machine tool interface functionality
Continued
The module contains a number of predefined procedures or functions for
communication with the machine tool:
Name
PROC InitMachine
PROC Machine1Action
(string sAction)
FUNC bool Ma-
chine1Check (string
sCheck)
FUNC bool Ma-
chine1Wait (string
sWait,num nMaxTime)
PROC CalibMainChuck
PROC CalibSubChuck
States and actions
This module uses a number of predefined states and actions that are consistently
used. If needed, new values can be added in GlobalCodeAndConfig.sys. However,
do not remove the existing values, as these are used in the FlexLoader core
functionality.
Examples for predefined values are:
Continues on next page
284
Description
Initiates what is necessary for machine handling. Sets up traps.
NEEDED: Set up correct signals for interrupt handling.
Performs desired machine tool action.
NEEDED: Define signals and communicate with machine tool.
Checks machine tool and conditions and returns correct state
for use in main flow of program.
NEEDED: Define signals and communicate with machine tool.
Waits for machine condition to be ok within nMaxTime. Returns
false if nMaxTime elapses.
NEEDED: Define signals and communicate with machine tool.
Support routine for calibration of a lathe main chuck.
Support routine for calibration of a lathe sub chuck.
DANGER
Ensure that the standard features in Machine1Action, Machine1Check and
Machine1Wait are correctly implemented. Malfunction and collisions might
otherwise occur.
Note
We recommend the use of an additional background task if the robot cell requires
time critical machine tool communication.
Note
Operation with more than one machine requires the creation of these routines
with equivalent names, e.g. Machine2Action and Machine3Wait.
• Examples for predefined machine checks/waits:
DOOR_OPENED, PREPICK_OK, LOAD_SUB_OK, LOAD_MAIN_OK,
UNLOAD_SUB_OK, UNLOAD_MAIN_OK, HOME_POSITION_OK,
MAIN_CHUCK_OPENED, MAIN_CHUCK_CLOSED, SUB_CHUCK_OPENED,
SUB_CHUCK_CLOSED
• Examples for predefined machine actions:
CLOSE_CHUCK_MAIN, CLOSE_CHUCK_SUB, CLOSE_DOOR,
OPEN_CHUCK_MAIN, OPEN_CHUCK_SUB, OPEN_DOOR,
© Copyright 2014-2018 ABB. All rights reserved.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B