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F.6 FlexLoader assistance and utility functionality
Overview
The FlexLoader assistance and utility functionality is structured according to the
following overview.
Module
AlarmsToVision.sys
EntryControl.mod
FeederOut.sys
GlobalCodeAndCon-
fig.sys
IndicationLights.mod
Indication-
Lights_shared.sys
ToolControlMenu.mod
Tools_base.sys
Tools_shared.sys
EntryControl.mod
This background task monitors the entry request to the cell. As soon as an entry
is requested, a signal is sent to the main program.
This task also ensures that the indication lamp for the entry request lights up/flashes
correctly depending on the status of the machine. The lamp starts to flash when
entry is requested and stays lit when entry is permitted. When the robot runs in
normal operation, the lamp is turned off.
Routine
PROC main()
Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
F.6 FlexLoader assistance and utility functionality
Description
Listen to events create by alarm system and sets and resets
alarms to FlexLoader Vision when needed. Never touch this code!
Loaded as hidden in T_ROB1.
Module for handling entry request, entry indication lamp and door
lock signals. Loaded into own background task.
Functionality for control of outconveyor and leave pattern calcula-
tion. Could be used in all motion tasks.
Shared module containing global code for FlexLoader SC 6000
RAPID code.
Module for handling indicator lights according to operational
status. Loaded into own background task.
Shared module for some task shared data and routines for indic-
ation light handling.
Module for improved and safe handling of gripping functions by
the operator. Loaded into own background task.
Module for convenient and common tool handling. Loaded into
all motion tasks.
Shared module for some task shared data and routines for tool
handling.
Description
Initiates entry control handling.
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F FlexLoader RAPID reference
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