Main Module (Mainmodule.mod) - ABB FlexMT Product Manual

5.4 Main module (MainModule.mod)

The main module contains the overall logic within the FlexMT. It contains the
following procedures and functions:
Name
FUNC bool CheckInPosi-
tion()
FUNC num CheckPos()
PROC CheckSystem()
PROC GoHome()
PROC InitGrippers()
PROC InitializeMain()
PROC LoadCameraMod-
ules()
PROC PickCamera()
PROC ResetMessages()
PROC SyncRoutine()
3HAC051768-001 Revision: -
Description
This routine checks if the feeder subsystem is in position for
taking a new image.
This procedure checks where the robot is positioned. Returns
correct number for the zone the robot currently is positioned in.
This procedure checks if end-of-cycle or entry has been reques-
ted, checks what to do next, and enters the actual state.
Not to be used from any position. Make sure robot can move to
closest via position before calling this. Robot must be jogged
in manual to a position where it is possible to go straight to
closest via-position.
Initiate tGripper1 and tGripper2. These are used in the program
to get information about the used grippers. If your cell has
switchable grippers add or replace conditions in this procedure
for nLoadGripperNumber. nLoadGripperNumber is changed
from PickMT in case of FeedLine Light detail.
This procedure holds all initialization made when starting the
robot program from the beginning. Add all initialization for the
current application here.
Loads camera modules as specified by PickMT. Check com-
ments in RAPID code for details.
Grabs new image from camera, waits for new coordinates and
picks part from the conveyor. If an image problem occurs, there
will be a couple of retries before stopping.
This procedure resets error, warning and information flags. Make
sure to check conditions for still active error/warning/information
before reset. The resets in this routine is mainly for reset of
machine roof light indications.
This procedure is executed to check synchronization needed.
Brake check is performed automatically.
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5 Robot program
5.4 Main module (MainModule.mod)
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