ABB Robotics FlexGripper Product Manual page 44

2 FlexGripper-Claw
2.3.5 Commissioning
Continued
WaitDI DI10_06_FixCylinder1_Down, 1;
ENDIF
ENDPROC
PFPSPushCylinder
PROC PFPSPushCylinder
IF Present (Open) THEN
SetDO DO10_08_PushCylinder1_Close, 0;
SetDO DO10_07_PushCylinder1_Open, 1;
WaitDI DI10_07_PushCylinder1_Open, 1;
WaitDI DI10_09_PushCylinder1_Open, 1;
ENDIF
IF Present (Close) THEN
SetDO DO10_07_PushCylinder1_Open, 0;
SetDO DO10_08_PushCylinder1_Close, 1;
WaitDI DI10_08_PushCylinder1_Close, 1;
WaitDI DI10_10_PushCylinder1_Close, 1;
ENDIF
ENDPROC
PFPS_PickUpBox()
PROC PFPS_PickUpBox()
MoveJ pHome, v100, fine, tPFPSClawGrip\WObj:=wobj0;
TPWrite " Robot move to pick postion! ";
MoveL Offs(pPick,-10,0,100), v100, z20, tPFPSClawGrip\WObj:=wobj0;
MoveL pPick, v100, fine, tPFPSClawGrip\WObj:=wobj0;
GripLoad PFPSLoadFull;
TPWrite " Robot start to pick up box! ";
PFPSClaWCylinder \Close;
IWatch itClaWMonitor1;
PFPSFixCylinder \Down;
WaitTime\InPos, 1;
bPartPicked:=TRUE;
WaitTime\InPos, 0.2;
TPWrite " Robot finish to pick up box! ";
MoveL Offs(pPick,0,0,50), v50, z10, tPFPSClawGrip\WObj:=wobj0;
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Note
The top press plate is up, when 'DO10_06_FixCylinder1_Down' is set to be '0'
and 'DO10_05_FixCylinder1_Up' is set to be '1'. The top press plate is down,
when 'DO10_06_FixCylinder1_Down' is set to be '1' and
'DO10_05_FixCylinder1_Up' is set to be '0'.
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Product Manual - FlexGripper-Claw
4GAA40401009901-001 Revision: A