Flexloader Assistance And Utility Functionality - ABB FlexLoader SC 6000 Product Manual

7 RAPID program

7.6 FlexLoader assistance and utility functionality

7.6 FlexLoader assistance and utility functionality
Overview
Assistance and utility functionality enables efficient and user friendly programming
of the robot cell. It provides means for tool handling, feeder handling, entry control,
indication lights and several global utility functions. Some of these function
packages like options and feeder handling will be included in the RAPID code
package if those kind of equipment exist in the cell.
For further reference, see
RAPID example tool handling
The following example is typical use of the tool handling system.
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FlexLoader assistance and utility functionality on page
! Call to define all robot tools in cell. This call is normally
done in the PowerOn event.
SetupTools;
! Example of how SetupTool could look like. This is placed in
CommonXXXX.sys
PROC SetupTools()
MT_Log MT_LVL_INFO,"CommonCell",["Performing Tool setup"];
! General tool data setup
tGripper0:=tool0;
!----- Define gripper data -----------
!!TODO - set correct values for you grippers tool data, then
remove alarm row below
!tGripper1:=
!tGripper2:=
MT_SetAlarm "tool_NoToolData";
!---------------------------------------
!Modify cog and mass for tGripper0, default to use data for
tGripper1
!!TODO - If necessary modify those cog and mass data to something
that fits even better for tGripper0
tGripper0.tload.cog:=tGripper1.tload.cog;
tGripper0.tload.mass:=tGripper1.tload.mass;
!!TODO - modify gripper setups to fit the current cell. Read
comments in ToolSetup for more information about this.
ClearToolData;
ToolSetup GRIPPER_0,"Gripper 0",tGripper0,sdRobot,\StnIndex:=10;
ToolSetup GRIPPER_1,MT_GetText("msgGripper1"),tGripper1,sdRobot,
\StnIndex:=1,\OpenOrOnSignal:="DOF_OpenGripper1",
\WaitTimeOpenOrOn:=0.5,\LabelOpenOrOn:=MT_GetText("msgOpened"),
\WaitTimeCloseOrOff:=0.5,\LabelCloseOrOff:=MT_GetText("msgClosed");
ToolSetup GRIPPER_2,MT_GetText("msgGripper2"),tGripper2,sdRobot,
\StnIndex:=2,\OpenOrOnSignal:="DOF_OpenGripper2",\WaitTimeOpenOrOn:=0.5,
\LabelOpenOrOn:=MT_GetText("msgOpened"),\WaitTimeCloseOrOff:=0.5,
\LabelCloseOrOff:=MT_GetText("msgClosed");
ToolSetup COMPRESSED_AIR_1,MT_GetText("msgCompressedAir1"),
tGripper0,sdRobot,\StnIndex:=3,\OpenOrOnSignal:="doValve5Gripper",
\WaitTimeOpenOrOn:=0.5,\LabelOpenOrOn:=MT_GetText("msgOn"),
\WaitTimeCloseOrOff:=0.5,\LabelCloseOrOff:=MT_GetText("msgOff");
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Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
211.