Flexloader Vision Lite Functionality - ABB FlexLoader SC 6000 Product Manual

7 RAPID program

7.4 FlexLoader Vision Lite functionality

7.4 FlexLoader Vision Lite functionality
Overview
The application code for FlexLoader Vision Lite provides an extension to the general
teachin described previously.
This extension is used for parameter-based simplified teachin for upright standing
cylindrical details, the so called FlexLoader Vision Lite. Normally, this code needs
no changes.
For further reference, see
The RAPID code follows the same structure as described in
functionality on page
preconfigured machine tool sequences, and a parameter interface to FlexLoader
Vision.
RAPID example LitePartCam1.mod
A specialized LitePartCam1.mod contains the application code for parameter-based
simplified teachin for upright standing cylindrical parts (i.e. FlexLoader Vision Lite).
A generic robot program based on geometrical part data is executed. No robot
programming is necessary for different parts, and teachin is reduced to entering
a few geometrical parameters in FlexLoader Vision. But note that some work objects
and configurations needs to be handled.
The module contains parametric movement instructions, option handling and
machine tool handling.
In this case, the LitePartCam1.mod is used for all parts, and only parametrized
code can be executed. It is located in HOME\FlexLoaderVisionLite\.
Special robot program option for part specific tasks
A part specific PartCam1.mod can be used and stored at a different location. Option
handling, e.g. deburring, air cleaning or marking, can be handled on part level.
RAPID example for Initialization
Belt handling and grab setting is done in InitializeMain. Note that this is an example,
other settings for those are also possible.
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104
92. It contains a preconfigured MainModule.mod,
Note
The handling routines are called for each part. Make sure your code works with
all parts. If not, activate the special robot program option in FlexLoader Vision.
! Belt setting: setup how belt should be controlled
nBeltAction{CAMERA_NO_1}:=RUN_ONE_DETAIL;
! Camera setting: grab images automatically or only from user
program
bAllowAutoGrab{CAMERA_NO_1}:=TRUE;
! Set image grab delay (after stop at sensor)
nImageGrabDelay{CAMERA_NO_1}:=0.2;
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FlexLoader Vision Lite functionality on page 209
Product manual - FlexLoader SC 6000
FlexLoader application
3HAC051768-001 Revision: D