ABB FlexMT Product Manual page 103

Name
LOCAL PROC Unload-
MAIN()
LOCAL PROC Unload-
SUB()
3HAC051768-001 Revision: -
Description
This procedure unloads detail in main chuck. Make sure to use
EnterMachine before all loading/unloading and ExitMachine 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 unloads detail in sub chuck. Make sure to use
EnterMachine before all loading/unloading and ExitMachine 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 "wSubChuckM1" by run-
ning the procedure "CalibSubChuck"
© Copyright 2014-2014 ABB. All rights reserved.
5 Robot program
5.5.1 FeedLine Light operation
Continued
103