Commissioning - ABB Robotics FlexGripper Product Manual

2 FlexGripper-Claw

2.3.5 Commissioning

2.3.5 Commissioning
Mechanical commissioning
Jog the robot to do the following actions: claw open, push plate open, push plate
close, claw close, press plate down, press plate up and check that the new gripper
operates correctly.
Pay attention to the following:
Rapid routines
Routines
PFPSInitInterrupt()
PFPS_MainEntry()
PFPSClawCylinder()
PFPSFixCylinder()
PFPSPushCylinder()
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Note
ABB recommend that air connected to the new gripper should be: 4-6 bar, filtered
(5µm), and non-lubricated.
After the electrical and pneumatic connection of the new gripper, test if the new
gripper operates correctly.
Note
Only 24V power is used in the new gripper.
Short circuit protection should be implemented by a fuse in the control cabinet
by the customer.
CAUTION
Hot parts may cause burns!
• The operation speed and smoothness. If the open and close time of the new
gripper-Claw is more than 0.6 s, adjust the throttle valves of the pneumatic
cylinders until the operation time is less than 0.6 s. The palletizing cycle time
is affected by factors as layout, working path, air pressure and commissioning
parameter setting etc..
• Check if the clawing force is suitable to handle the products. A filter-regulator
series MC is used to adjust the compressed air pressure of the press plates.
The clamping force standard should be the force that the product can be
steadily gripped and lifted without falling down.
• Check if any interference exists between cables or robot components.
Description
This routine is called to initialize the interrupt program.
The signal 'DI10_02_ClawCylinder1_Closed' is monitored.
This routine is the main entry of the 'Test run' process.
It can not be renamed, modified or deleted.
This routine is called when the claw is set to be open or close.
This routine is called when the top press plates go up and down.
This routine is called when the push plates push forward and
backward.
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Product Manual - FlexGripper-Claw
4GAA40401009901-001 Revision: A