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7 RAPID program
7.2 FlexLoader application functionality
7.2 FlexLoader application functionality
Overview
The FlexLoader SC 6000 application code handles the complete workflow of parts
in the cell (e.g. unloading and loading of parts, option handling, picking from
inconveyor and leaving on outconveyor).
The application code consists of a basic executable skeleton, which must be
modified by the integrator in order to match the actual application. However, the
basic structure should be followed to ensure smooth operation.
Main structure
Main.pgf and MainModule.mod are automatically loaded into the controller when
a part is started from FlexLoader Vision. During the following initialization, project
modules with part specific information are loaded. This happens upon every start
(if not configured otherwise, see FlexLoader Vision ConfigurationEditor).
MainModule.mod is always the same for all parts and all operating modes of the
robot cell. MainModule.mod is responsible for loading the modules that are linked
to the parts to be run. Below, these are called PartCamX for a general reference
to any PartCam module, or specifically PartCam1 for parts to be run using camera
1, PartCam2 for parts to be run using camera 2, and so on. These files can be
renamed according to project needs.
Cell definitions like tool data, work objects and so on along with some event routines
and help functions are placed in Common.sys and CommonCell / CommonSC3000
/ CommonSC6000.
Application code vs FlexLoader Vision code
FlexLoader RAPID code has RAPID system code responsible for picking parts
from the feeder. The interface between application code and system code for
picking are so called reference positions.
RefPosIn is a robot position from which picking of parts is possible. After picking
a part, the system code returns the robot to RefPosOut. The application part is
responsible to handle parts, starting from RefPosOut, and handling all RAPID code
until the robot can be returned to RefPosIn.
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© Copyright 2014-2020 ABB. All rights reserved.
Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
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