Mttargetdata - Describes A Robot Zone - ABB FlexLoader SC 6000 Product Manual

G.3.9 mttargetdata - describes a robot zone
Usage
mttargetdata is used to define the different zones in the cell. Normally one zone
is defined for each station but it doesn't have to be like that. To define when the
robot is within a specific zone a mtrange for axis 1 is always used, i.e. a start and
stop value for axis 1. In addition there is up to four additional mtaxisrange that
could be optionally used where user specify which axis and the range for that axis
to also consider for the zone. Note that robot must be within all ranges (between
start and stop for all the specified axis) to be in that zone. If an optional axisrange
shouldn't be used, just state "0" for the axis number.
Basic examples
The following example illustrates the data type mttargetdata.
Example 1
In this example ZONE_HOME is given unique index number 1 and connects to via
position "pHome". To be considered in the zone, the robot must have axis 1 between
-80 and 70 degrees. And axis 3 between -30 to 30 degrees and axis 4 between 10
to 40 degrees.
Components
The data type mttargetdata has the following components:
Index
Data type: num
Unique index number for this mttargetdata, the number doesn't matter as long as
it's unique.
PosName
Data type: string
The via position connected to this target zone. This gives an indirect connection
between the target zone and the actual via position. Note that spelling is very
important here!
RangeAxis1
Data type: mtrange
The range used for axis 1.
Range2
Data type: mtaxisrange
The axis and range for optional axis check. Set axis number to 0 if not using this.
Range3
Data type: mtaxisrange
The axis and range for optional axis check. Set axis number to 0 if not using this.
Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
CONST mttargetdata
ZONE_HOME:=[1,"pHome",[-80,70],[3,[-30,30]],[4,[10,40]],[0,[0,0]],[0,[0,0]]];
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G.3.9 mttargetdata - describes a robot zone
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