ABB FlexMT Product Manual page 102

5 Robot program
5.5.1 FeedLine Light operation
Continued
Name
PROC WashDetail()
PROC RegripDetail()
It contains the following general machine tool handling procedures and functions.
Note that the GLOBAL procedures (like LoadMachine_MAIN) are called from
MainRoutine and perform logical work, whereas the LOCAL routines (like LoadMAIN)
perform the actual movement work.
Name
LOCAL PROC EnterMa-
chine(\switch Grip-
per1FaceMAIN|switch
Gripper1FaceSUB)
LOCAL PROC ExitMa-
chine(\switch Grip-
per1FaceMAIN|switch
Gripper1FaceSUB)
PROC LoadMa-
chine_MAIN()
PROC LoadMa-
chine_MAIN_Un-
Load_SUB()
LOCAL PROC Load-
MAIN()
PROC Synchroneous-
Mode()
LOCAL PROC Unloa-
dLeftOverPart()
PROC UnloadMa-
chine_LeftOverPart()
PROC UnLoadMa-
chine_MAIN()
PROC UnloadMa-
chine_MAIN_Load_MAIN()
PROC UnLoadMa-
chine_SUB()
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102
Description
Example code for washing detail.
Example code for regripping detail.
Description
This procedure is for moving robot into machine. Add positions
here if necessary.
pViaMachine1/pViaMachine2 is in this example code a position
inside the machine where both chucks are reachable and the
gripper could turn around without crashing.
pViaMachine1 is placed with gripper 1 facing main chuck.
pViaMachine2 is placed with gripper 1 facing sub chuck.
This procedure is for moving robot out of machine. Add positions
here if necessary.
pViaMachine1 / pViaMachine1 see above. pViaMachine is in this
example code a position just outside the machine tool where
the robot can request the machine to close its door.
This procedure is for loading the main chuck in machine tool.
This procedure is for loading the main chuck and unloading the
sub chuck.
This procedure loads detail in main chuck. Make sure to use
EnterMachine before all loading/unloading and ExitMachine after
all loading/unloading
The load position is always calculated. X and Y is set to 0 and
Z is calculated with help from PickMT values. To change the
leave position, adjust "wMainChuckM1" by running the procedure
"CalibMainChuck"
This procedure unloads sub chuck and then waits for machine
to be ready before loading main chuck and leaving on out belt
This procedure unloads left over part in main chuck. Make sure
to use EnterMachine before all loading/unloading and ExitMa-
chine after all loading/unloading.
The unload position is always calculated. X and Y is set to 0 and
Z is calculated with help from PickMT values. To change the
unload position, the work object has to be adjusted until the
position is correct. In this case adjust "wMainChuckM1" by
running the procedure "CalibMainChuck"
This procedure is for unloading the LeftOverPart from the ma-
chine tool.
This procedure is for unloading the main chuck in machine tool.
This procedure is for first unloading and then loading the main
chuck in machine tool.
This procedure is for unloading the sub chuck in machine tool.
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3HAC051768-001 Revision: -