! VisionResult{CAMERA_NO_1}.Target holds coordinates for an
interlayer
! TODO - Pick interlayer with robot or ask operator to remove it
! TODO - Pallet is also empty, so make sure it's switched out
Stop;
! Call ConfirmPick or RefPosOut to move out of camera area and
confirm pick to vision.
! In cells with auto grab, this will also trig a new image. Use
RefPosOut_ to move out of camera area at the same time as
confirming.
CallByVar "ConfirmPick",CameraNumber;
! --------------------------------------------------------
DEFAULT:
! Move robot to camera area
CallByVar "RefPosInCam_",CameraNumber;
! Call routine to pick the part
CallByVar "PickCam_",CameraNumber;
! Move robot out of camera area and confirm pick
CallByVar "RefPosOutCam_",CameraNumber;
ENDTEST
Single camera feeder with post-pick adjustments
This example is valid for a feeder with a single camera, where the same camera
is used for the normal pick and for post-pick adjustments. This can be used for
more exact positioning of the part in the gripper fingers.
! Belt setting: setup how belt should be controlled
nBeltAction:=[RUN_ONE_DETAIL,RUN_NEVER,RUN_NEVER,RUN_NEVER];
! Camera setting: grab images automatically or only from user
program
bAllowAutoGrab:=[TRUE,FALSE,FALSE,FALSE];
In order to take the post-pick image, use the prepared routines for this. Note that
the RAPID modules for this are optional and might not be included in the RAPID
package if not asked for. See comments in RAPID code for more information about
the functions in the example code.
VAR visionres vrResult;
! Call to Control image function to prepare for second image, grab
that image and then reset camera to normal image settings.
vrResult:=ControlImage(CAMERA_NO_1,\ControlImagePositions:=[3,4],
\NormalImagePositions:=[1,2],\CameraSettingsControl:=[80,70,5],
\CameraSettingsNormal:=[60,60,10]);
The ControlImage routine will depend on the user having created or modified a
couple of movement routines to help robot get to correct position for the post-pick
image. Routines in example below must exist and have movements according to
the comments.
PROC MoveToControlImage1()
! TODO - if control image is used add code here to move robot in
position for control image
ENDPROC
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Product manual - FlexLoader SC 6000
95
3HAC051768-001 Revision: D
© Copyright 2014-2020 ABB. All rights reserved.
7 RAPID program
7.2 FlexLoader application functionality
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