PERS robtarget pViaFeeder:=[[1500,300,1000], .....
CONST mttargetdata ZONE_HOME:=[1,"pHome",[-80,70], .....
CONST mttargetdata ZONE_MACHINE:=[2,"pViaMachine",[-100,-80], .....
CONST mttargetdata ZONE_FEEDER:=[5,"pViaFeeder",[-100,170], .....
Note that in each mttargetdata, there is an indirect pointer to the actual robtarget
defined by a string value. Furthermore, a couple of routines should be created:
PROC MT_MoveToVia(mttargetdata Target)
! In this routine add code to move to via position (position
connected to the targetdata) of the zone. This will be called
if robot is somewhere in the zone but not at a defined
position and needs to come back. The easiest way could be to
always go straight to that position:
MoveJ MT_GetViaPosition(target),v500,fine,tTool0;
! But in some cases that might not be possible and there it could
be needed to add some additional smart code to navigate to a
free area before moving directly to the via position. This
added code must be created by the integrator who have
knowledge of the specific cell.
ENDPROC
In the mv-instructions define how to navigate from any other position to this
position/zone. Note that the routine name must be mv followed by the exact name
of the corresponding mttargetdata. mvZONE_HOME could in this example look
like this. Note that there also must be similar routines for mvZONE_MACHINE and
mvZONE_FEEDER too.
PROC mvZONE_HOME()
VAR mttargetdata FromZone;
FromZone:=MT_GetCurrentZone();
TEST FromZone
CASE ZONE_MACHINE:
!TODO - add movement instructions here
CASE ZONE_FEEDER:
!TODO - add movement instructions here
DEFAULT:
!No path available
!TODO - error handling in a way that fits your project
TPWrite "Movement to ZONE_FEEDLINE from this position is not
defined";
Stop;
EXIT;
ENDTEST
MoveJ pHome,v7000,z200,tTool0;
ENDPROC
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Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
© Copyright 2014-2020 ABB. All rights reserved.
7 RAPID program
7.5 FlexLoader Library Add-in
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Summary of Contents for FlexLoader SC 6000
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