Robot System; Introduction - ABB FlexLoader SC 6000 Product Manual

4 Commissioning

4.4.1 Introduction

4.4 Robot system

4.4.1 Introduction
General
FlexLoader SC 6000 is delivered with a pre-installed and pre-configured robot
gripper system (option) and robot program.
For details on the structure of the FlexLoader SC 6000 robot software see
program on page
Commissioning includes the following main steps:
Base coordinate system of the robot
The robot is mounted on an inclined pedestal for better reach and accessibility to
the machine tool. In order to simplify handling and jogging of the robot, the robot
base coordinate system shall be parallel to the floor (not angled), preferably with
either the X or Y axis parallel with the front of the machine tool.
The following values can be changed in the robot configuration (cf. MOC.CFG) in
order to take inclination and rotation into account if the robot is inclined or rotated
in relation to the desired coordinate system.
60
91.
• Adjusting the robot coordinate systems.
• Establishing the FlexLoader SC 6000 – machine tool communication interface.
• Adapting the robot program to the individual automation needs.
Tip
FlexLoader SC 6000 commissioning uses standard robot functionality for
maintaining work objects, tool data and other settings.
Refer to the robot product manual for this standard functionality.
• gravity_alpha, gravity_beta
• base_frame_orient_u0, base_frame_orient_u1,
base_frame_orient_u2, base_frame_orient_u3
• base_frame_x, base_frame_y, base_frame_z
DANGER
Do not change the position or orientation of the robot base coordinate system,
as this will affect the SafeMove configuration.
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Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
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