Procedures, Functions And Traps - ABB FlexMT Product Manual

5.3.3 Procedures, functions and traps

The module contains a number of predefined traps for information transfer with
machine tool:
Name
TRAP PrePickTrap
TRAP DoorClosedTrap
The module contains a number of predefined procedures/functions for
communication with machine tool:
Name
PROC InitMachine
PROC MachineAction
(string sAction)
FUNC bool Ma-
chineCheck (string
sCheck)
FUNC bool MachineWait
(string sWait,num nMax-
Time)
3HAC051768-001 Revision: -
Description
Receives information from machine tool that a part soon needs
to be loaded. If needed, add code to confirm to machine tool that
signal has been received.
Used on machine tools with slow doors. Signal is caught by trap
instead of foreground program so that robot can continue work.
Confirms to machine tool that door closed signal has been re-
ceived and whole loading sequence is finished.
Description
Initiate whats neccessary for machine handling. Sets up traps.
NEEDED: Set up correct signals for interrupt handling.
Performs desired machine tool action.
NEEDED: Define signals and communicate with machine tool.
Checks machine tool and conditions and returns correct state
for use in main flow of program.
NEEDED: Define signals and communicate with machine tool.
Waits for machine condition to be ok within nMaxTime. Returns
false if nMaxTime elapses.
NEEDED: Define signals and communicate with machine tool.
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5 Robot program
5.3.3 Procedures, functions and traps
97