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The EUROMAP 67 program template is prepared for performing simple interaction with an IMM.
By specifying only a few waypoints, and a pair of I/O actions, the robot is ready for handling the
objects made by the IMM. The waypoints are:
• WP home position: The robot starting point for the procedure.
• WP wait for item: The waypoint where the robot will be placed while waiting for an item to
be ready from the IMM.
• WP take item: The waypoint where the robot will take the item from (inside) the IMM.
• WP drop item: The waypoint where the robot will drop the item just fetched from the IMM.
The two Action nodes are intended for controlling a tool capable of grabbing and holding the items
from the IMM, and then releasing and dropping them when moved outside the IMM.
Now, the procedure will cycle through the steps, continously removing newly constructed items
from the IMM. Obviously, the Loop node should be customized such that the robot will only run this
cycle as long as there are items to take. Also, by customizing the MoveJ node, the robot movement
speed should be adjusted to fit the IMM cycle time, and, if necessary, the level of fragility of the
items. Finally, each EUROMAP 67 structure is customizable to suit the specific IMM procedure.
18.2 I/O overview and troubleshooting
The EUROMAP 67 I/O overview is found under the I/O tab.
CB3
18.2 I/O overview and troubleshooting
III-12
Version 3.10
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