ABB Robotics FlexGripper Product Manual page 43

Routines
PFPS_PickUpBox()
PFPS_PlaceDownBox()
exePickPlace()
PFPSClawCylinder()
PROC PFPSClawCylinder()
IF Present (Open) THEN
SetDO DO10_02_ClawCylinder1_Close,0;
SetDO DO10_01_ClawCylinder1_Open,1;
WaitDI DI10_01_ClawCylinder1_Opened,1;
ENDIF
IF Present (Close) THEN
SetDO DO10_01_ClawCylinder1_Open,0;
SetDO DO10_02_ClawCylinder1_Close,1;
WaitDI DI10_02_ClawCylinder1_Closed,1;
ENDIF
ENDPROC
PFPSFixCylinder
PROC PFPSFixCylinder
IF Present (Up) THEN
SetDO DO10_06_FixCylinder1_Down, 0;
SetDO DO10_05_FixCylinder1_Up, 1;
WaitDI DI10_05_FixCylinder1_Up,1;
ENDIF
IF Present (Down) THEN
SetDO DO10_05_FixCylinder1_Up, 0;
SetDO DO10_06_FixCylinder1_Down, 1;
Product Manual - FlexGripper-Claw
4GAA40401009901-001 Revision: A
Description
This routine is called when the robot goes to pick up boxes.
This routine is called when the robot goes to place down boxes.
This routine is called when the robot goes to pick up and place
down boxes.
The two routines 'PFPS_PickUpBox()' and 'PFPS_PlaceDown-
Box()' are called during the process.
Note
The target points 'pHome', 'pPick' and its offsets must be defined and taught
firstly.
Note
The claw is open, when 'DO10_02_ClawCylinder1_Close' is set to be '0' and
'DO10_01_ClawCylinder1_Open' is set to be '1'. The claw is close, when
'DO10_02_ClawCylinder1_Close' is set to be '1' and
'DO10_01_ClawCylinder1_Open' is set to be '0'.
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2 FlexGripper-Claw
2.3.5 Commissioning
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