ABB FlexLoader SC 6000 Product Manual

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ROBOTICS

Product manual

FlexLoader SC 6000

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Summary of Contents for ABB FlexLoader SC 6000

Page 1 ROBOTICS Product manual FlexLoader SC 6000...
Page 2 Trace back information: Workspace Robots and Applications version a61 Checked in 2020-03-06 Skribenta version 5.3.033...
Page 4 The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
Robot gripper connections .................. Machine tool installation ..................Network connections ..................Network security ....................Licensing ......................3.10 Moving the FlexLoader SC 6000 ................Commissioning User accounts ....................Powering on the FlexLoader SC 6000 ..............Vision system FlexLoader Vision ................Robot system ....................
Page 6 WorldZones ..................... Operation Overview ......................Powering on the FlexLoader SC 6000 ..............Shutting down the FlexLoader SC 6000 ..............Operating FlexLoader SC 6000 with FlexLoader Vision ..........Emergency stop ....................Entry control ....................SafeMove operation ................... Manual gripper control ..................
Page 7 G.3.7 mtrange - describes a robot axis range ............G.3.8 mtstationdata - describes a station ............. G.3.9 mttargetdata - describes a robot zone ............Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
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Page 9: Overview Of This Manual
Overview of this manual Overview of this manual About this manual FlexLoader SC 6000 is a standard cell used for machine tool tending. This manual describes how to install, operate, maintain, service and troubleshoot the FlexLoader SC 6000. Usage This manual should be used during: •...
Page 10 Overview of this manual Continued Revision Description General update. Improved RAPID description and reference. Clarifications on PROFINET setup Updated for R19D. Includes new RAPID program setup. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 11: Getting Started
Follow the steps below for getting started with a FlexLoader SC 6000 system. Action Become familiar with this manual. Transport the FlexLoader SC 6000 to its intended location and integrate it with machine tool(s) and other equipment. Installation on page Pay special attention to safety and functional interface.
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Page 13: Safety
Equipment that is part of a fully- or semi-automatic system must always be treated with care regarding safety. The users of ABB industrial robots are responsible for ensuring that the applicable safety laws and regulations in the country concerned are observed, and that the safety devices necessary to protect people working with the robot system are designed and installed correctly.
Page 14: Safety During Installation, Commissioning And Decommissioning
CAUTION It is forbidden to step on the illumination roof, the outer walls of the FlexLoader SC 6000 and on any FlexLoader SC 6000 option. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D...
Page 15: Safety During Setup, Maintenance, Service And Repair
2.3 Safety during setup, maintenance, service and repair 2.3 Safety during setup, maintenance, service and repair Always ensure that FlexLoader SC 6000 cannot be started when working on the cell. The installed protection that belongs to the equipment must always remain installed during automatic operation.
Page 16 Details held in the gripper can fall down after an extended period of depressurized state, if the grippers are equipped with pressure retaining valves. Be aware of crushing risk. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 17: Safemove
2.4 SafeMove 2.4 SafeMove Standard operation The robot working space in the FlexLoader SC 6000 is restricted by the use of SafeMove. Due to space requirements, the SafeMove outer boundaries of restricted space are close to the FlexLoader SC 6000 enclosure.
Page 18 Standard mounting position Alternative mounting position The SafeMove configuration must be changed accordingly to the new work space. The standard ABB guidelines for configuration and validation of SafeMove configurations shall be followed. DANGER It is the integrators responsibility to modify and validate the SafeMove configuration for the alternate mounting position in a suitable way.
Page 19: Limitation Of Liability
2.5 Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the FlexLoader SC 6000 will not cause injury or damage even if all safety instructions are complied with.
Page 20: Nation And Region Specific Regulations
To protect personnel, the complete system must be designed and installed in accordance with the safety requirements set forth in the standards and regulations of the country where FlexLoader SC 6000 is installed. Within the EU, refer to the Machinery Directive 2006/42/EC with addendum.
Page 21: To Be Observed By The Supplier Of The Complete System
The FlexLoader SC 6000 used with Eden door switches does not evaluate door locking in its safety function. This has to be considered in the risk assessment.
Page 22 SafeMove system. Note The SafeMove configuration must take the robot stopping distances into account, see Robot stopping distances (3HAC048645). Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 23: Safety Signals In The Manual
NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 24 Continued Symbol Designation Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 25: Installation
Read the safety precautions and other instructions carefully before unpacking and installing the equipment. This section describes the installation of FlexLoader SC 6000. If the installation contains further parts, safety instructions may also be found in other documentation. Unpack the equipment and look for any signs of damage.
Page 26: Mechanical Installation
Never walk or stand beneath a suspended load. The FlexLoader SC 6000 weight is ~2300 kg and shall be lifted off the transporter with a forklift from the side. On the wooden pallet there are signs where to lift. The...
Page 27 3 Installation 3.2 Mechanical installation Continued FlexLoader SC 6000 can be transported on the workshop floor with a forklift from the side, with 3 handheld lifts as the pictures show, or on appropriate skates. xx1900000186 xx1900000187 Initial transport of the unit using handheld lifts (1). Look for fork lift signs...
Page 28 (A). Note Check all delivered parts for damage. If necessary, take appropriate actions. The FlexLoader SC 6000 can be lifted using a fork lift with the provided fork lift slots, placed on the bottom of the machine. xx1900000189...
Page 29 3 Installation 3.2 Mechanical installation Continued The FlexLoader SC 6000 can also be positioned by using skates. xx1900000190 xx1900000191 Transport of the FlexLoader SC 6000 using skates (1) xx1900000192 Transport of the FlexLoader SC 6000 using skates (2) Continues on next page...
Page 30 3.2 Mechanical installation Continued CAUTION Do not lift the FlexLoader SC 6000 to high in the back only. It will damage the plates on the front door. xx1900000193 Pay attention on inclination in order to avoid damages to front plates.
Page 31 Example of absorption bags - in the electrical cabinet - that must be removed. Assemble the vision tower If the FlexLoader SC 6000 was shipped in a container, the vision tower has to be assembled. Use straps to lift the vision tower. The straps shall be fastened around the beams inside the tower.
Page 32 The rest of the cables need to be connected to the terminal inside the electrical cabinet according to the circuit diagram. xx1900000198 Cable path from vision tower to FlexLoader SC 6000 chassis. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D ©...
Page 33 3 Installation 3.2 Mechanical installation Continued xx1900000199 xx1900000355 Internal connection of vision tower cables in control cabinet. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 34 The width of the opening towards the machine tool can be adjusted according to the actual needs. By selecting a suitable amount of the flexible panels on the back side of the FlexLoader SC 6000, various opening widths can be achieved (850 mm, 1300 mm, 1500 mm):...
Page 35 The stabilization support (se image below) is needed for mechanical stability during transport. Save the stabilization support when disassembling it ! xx1900000359 Transportation stability ensured by support. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 36 A ready made corridor part can be mounted on the side of the FlexLoader SC 6000, according to the image below. The extension panels consist of two parts, the extension panel door, and the extension panel back.
Page 37 The extension panel back has to be mounted on the FlexLoader SC 6000: Select a suitable position along the rim and secure the extension panel back by mounting it to the FlexLoader SC 6000 outer shell (screws on upper and lower rim of the FlexLoader SC 6000).
Page 38 3 Installation 3.2 Mechanical installation Continued If the wholes are drilled prior to putting the FlexLoader SC 6000 into position use the following drilling plan. Pay attention to distances implied by extension panel options.: xx1900000362 FlexLoader SC 6000 drilling template (in mm), seen from above (1)
Page 39 Detail A from previous drawing, seen from above (2) Put the FlexLoader SC 6000 at the intended position. Level the FlexLoader SC 6000 with regard to the inconveyor, by using the adjustable machine feet (see picture below). The conveyor must be levelled both in the direction of movement and across it, within <...
Page 40 The gap between the swing door upper edge and the upper rim of the FlexLoader SC 6000 shall be checked after tightening the FlexLoader SC 6000 to the floor. If swing door and FlexLoader SC 6000 upper rim do not align, the height of the floor wheel shall be adjusted.
Page 41 If risk assessment indicates a risk, e.g. due to elongated or bulky parts, an extra vertical plate of suitable size needs to be mounted close to the turn station on the FlexLoader SC 6000 upper rim to avoid that the risk area can be reached from the outside.
Page 42 [mm] Belt adjustment The belt is adjusted when FlexLoader SC 6000 is tested at manufacturing, but it may need to be readjusted after transportation or after repair. • Check that the support rollers are installed at exactly 90° in relation to the frame extension.
Page 43: Electrical Installation
Within countries applying US regulations, grounding and bonding equipment shall be performed according to the national electrical code, NFPA 70. CAUTION The FlexLoader SC 6000 is designed for use with the TNS earthing scheme. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D...
Page 44: Pneumatic Installation
3.4 Pneumatic installation Connection point Connect the incoming air connection to the FlexLoader SC 6000 at the indicated connection point at the FlexLoader SC 6000 upper rim. The incoming air must be 6 bar / 87 psi. Dry air, no oil. xx1900000364...
Page 45: Robot Gripper Connections
3.5 Robot gripper connections 3.5 Robot gripper connections General FlexLoader SC 6000 with base configuration has a number of predefined gripper signals that are routed to the robots Customer Signals/Customer Power (CS/CP) connector. If the standard gripping option is chosen, these signals are already connected to the valve package.
Page 46: Machine Tool Installation
3.6 Machine tool installation 3.6 Machine tool installation General FlexLoader SC 6000 connects to the machine tool by means of a safety interface and a functional interface. The machine tool interface is normally prepared by the integrator and needs almost always customization.
Page 47 Other physical interfaces are available by using optional robot field bus or interface options (to be ordered with robot). • ABB DC500 series I/O node connected to the robot PROFINET network. The functional interface must be configured and commissioned prior to use of the FlexLoader SC 6000.
Page 48: Network Connections
Modify names and addresses if necessary, see Standard network IP settings on page All sub-modules are needed when adding PLUTO devices. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 49 IP addresses that are pre-configured in the controller. ABB CI502 I/O nodes will get its name depending on the switches/knobs on the module, e.g. ci502-pn-01 if knobs are put in positions 0 (x10H) and 1 (x01H). A cold start is needed to read new name.
Page 50 The FlexLoader Vision PC is connected to the cameras on a separate internal network. The PC network connection is named GigE on physical port PoE1. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 51 Camera 2 192.168.2.3 Do not specify gateway. Camera 3 192.168.2.4 Do not specify gateway. Camera 4 192.168.2.5 Do not specify gateway. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 52 A master PLC be connected through PROFINET by using a PROFINET fieldbus adapter in the first controller (robot option 840-3). xx1800002905 Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 53 WAN instead of LAN2. However, this will expose all components to an external network. We recommend to avoid this system setup. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 54: Network Security
ABB Ltd and its entities are not liable for damages and/or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.
Page 55: Licensing
3 Installation 3.9 Licensing 3.9 Licensing By installing and using FlexLoader SC 6000 and its FlexLoader Vision you agree to Microsoft's and Matrox's license agreements. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 56: Moving The Flexloader Sc 6000
Mechanically stabilize the FlexLoader SC 6000 prior to transporting it again. The stabilizing support close to the FlexLoader SC 6000:s machine opening has to be fitted to the FlexLoader SC 6000 prior to any transport. This support was delivered and fitted to the FlexLoader SC 6000 for original delivery.
Page 57: Commissioning
4.1 User accounts General Note There are several default user accounts used in FlexLoader SC 6000. It is strongly recommended to change the default passwords to reduce the risk of unauthorized access to important system parameters. Follow ABB’s advice for administration of user permissions.
Page 58: Powering On The Flexloader Sc 6000
• Reset the emergency stop. • Open and close at least one internal FlexLoader SC 6000 cell door. • Reset the door status by shortly turning the reset key. Optionally, if a light curtain is present, a long light curtain reset may be needed (0.5 s) first, followed by a second reset for the whole cell.
Page 59: Vision System Flexloader Vision
Adjust focus: Place a sheet of paper with text or information below the camera on the belt. If you intend to run FlexLoader SC 6000 with tall details, put the sheet on an appropriate height. Adjust the lens focus ring and lock it.
Page 60: Robot System
General FlexLoader SC 6000 is delivered with a pre-installed and pre-configured robot gripper system (option) and robot program. For details on the structure of the FlexLoader SC 6000 robot software see RAPID program on page Commissioning includes the following main steps: •...
Page 61: Calibration Of The Coordinate Systems
4.4.2 Calibration of the coordinate systems 4.4.2 Calibration of the coordinate systems Robot coordinate systems that are used in the FlexLoader SC 6000 are pre-defined from factory, but they must be redefined to compensate for possible changes due to transportation and setup.
Page 62 General work object considerations Some standard work objects in the FlexLoader SC 6000 actively use both user frame and object frame. When doing standard 3-point calibration, the operator must calibrate by means of the user method. The object frame is used internally in order to move work objects to specific points of interest.
Page 63 The following coordinate systems shall be redefined (if the corresponding option is present on the FlexLoader SC 6000). The position of the calibration points can be found in the images below.
Page 64 4 Commissioning 4.4.2 Calibration of the coordinate systems Continued Approximate positioning of wCamera1 in the FlexLoader SC 6000. xx1900000366 Finally, check the calibration by the following simple test. Move the robot calibration tool tip to point x=0, y=0, z=0 in wCamera1. Use the mouse curser coordinate display in FlexLoader Vision and point at the image of the calibration tool tip.
Page 65 FlexLoader Vision Lite applications, this point is calculated from detail data. In user-defined details, the point has to be defined and displaced by user code. xx1900000367 Approximate positioning of wFeederOut in the FlexLoader SC 6000 Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D ©...
Page 66 Re-grip table wRegrip The re-grip table coordinate system wRegrip is oriented as follows. Standard 3-point calibration. xx1900000368 Approximate positioning of wRegrip in the FlexLoader SC 6000 Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 67 Turning station wTurnStation The turning station coordinate system wTurnStation is oriented as follows. Standard 3-point calibration. xx1900000369 Approximate positioning of wTurnStation in the FlexLoader SC 6000 Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 68 Note that orientation of the tool is used in pre-configured movements. xx1900000370 Approximate positioning of wAirClean in the FlexLoader SC 6000 Deburring tools wDeburr The grinding and deburring tools are accessed from their own coordinate system wDeburr.
Page 69 Note that orientation of the tool can be used. xx1900000371 Approximate positioning of wSample in the FlexLoader SC 6000 Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D ©...
Page 70 Approximate positioning of wMarker in the FlexLoader SC 6000 Afterwards, call the calibration routine CalibMarker. The point-of-interest is where the calibration tool touches the marking needle, with the marking needle at a suitable marking distance.
Page 71 If the chucks are movable, check that the z-axis in wMainChuckM1 and wSubChuckM1 is in line with the actual chuck movement (even for long movements). Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 72: Further Integration Steps
4 Commissioning 4.4.3 Further integration steps 4.4.3 Further integration steps The pre-configured robot software for FlexLoader SC 6000 contains suggestions for a working application skeleton. Please follow the suggestions in the section about robot program for building your own applications, see RAPID program on page 91.
Page 73: Machine Tool
4 Commissioning 4.5 Machine tool 4.5 Machine tool The FlexLoader SC 6000 system provides a framework for handling the most common machine tool interface types. Interaction with the machine tool is handled by a machine tool specific module (TemplateMachine.sys). This module translates the actual machine tool communication signals into a standardized set of commands to be understood by FlexLoader SC 6000.
Page 74: Safemove
4 Commissioning 4.6 SafeMove 4.6 SafeMove The FlexLoader SC 6000 comes with a standardized setup for the SafeMove system. The delivery setup is as follows: xx1900000414 Schematic positions of SafeMove zones within the FlexLoader SC 6000. The marked areas are forbidden zones.
Page 75 Follow standard SafeMove configuration routines as described in the robot manual. DANGER If the intended use of the FlexLoader SC 6000 is changed, a new risk assessment with regard to SafeMove configuration must be done. DANGER SafeToolZones defined within the FlexLoader SC 6000 (STZ4, STZ5, STZ6, STZ7, SST1) shall not be modified more than described above.
Page 76: Marking Unit
4.7 Marking unit General The marking unit is a standard FlexLoader SC 6000 option. The hardware consists of a SIC marking equipment, i.e. an i53 marking head with an E10 controller unit. During operation, the robot communicates by means of serial communication with the controller unit.
Page 77: Deburring/Grinding Unit
4 Commissioning 4.8 Deburring/grinding unit 4.8 Deburring/grinding unit The deburring/grinding unit is a standard FlexLoader SC 6000 option. The hardware consists of an Atlas Copco pneumatic die grinder LSF28 ST030E and a Nitto pneumatic filer ASH-900. These units can be equipped by any suitable tools according to the customer needs.
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Page 79: Interface
5 Interface 5.1 Safety interface Introduction The FlexLoader SC 6000 is equipped with a well proven multi-purpose safety center that covers a large variety of standard uses. The safety center is normally connected directly to the machine tool(s). The safety center handles all necessary connections to the door system and the robot safety.
Page 80: Function Interface
5.2 Function interface 5.2 Function interface General FlexLoader SC 6000 has a function interface that is used to communicate with the robot and the rest of the robot cell. The internal interface between robot and FlexLoader SC 6000 is described below.
Page 81 0 without prior warning. This can happen for example when the robot is stopped and started. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 82 During normal operation, signal exchange to robot occurs according to the following handshaking sequence: xx1800000185 Machine tool interface As standard, the FlexLoader SC 6000 is delivered with the following functional interface capability: • ABB CI502 series I/O node connected to the robot PROFINET bus.
Page 83: Function Description
The system can easily be adapted to the requirements of the customer. In a typical application FlexLoader SC 6000 is integrated with a machine tool. The operator places parts on a conveyor belt that acts as a buffer. The robot picks the parts from the conveyor belt.
Page 84 Extension panel door Retractable sliding door with entry control xx1900000375 Pos. Component Pos. Component Robot Outconveyor Inconveyor Extension panel back Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 85 6 Function description 6.1 Overview Continued The main options the FlexLoader SC 6000 can be equipped with are: xx1900000376 Pos. Component Pos. Component Marking unit Re-grip table Air cleaning box Deburring Tools Turn unit Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D ©...
Page 86 6 Function description 6.1 Overview Continued Sensors The main sensors the FlexLoader SC 6000 can be equipped with are: xx1900000377 Pos. Component Pos. Component Sensor that detects if a part has Inconveyor TooFar-sensor, de- been placed on the statistical tects if parts on the inconveyor outlet.
Page 87 Operator panels The main operator panels of FlexLoader SC 6000 are situated at the start of the inconveyor, below the vision system screen, and at the sliding door towards the machine tool.
Page 88 Auto/Manual with reduced speed) Illumination switch, turns illumin- Robot service port, located below ation on or off the vision system screen Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 89 Emergency stop Door reset (after cell entry) Start robot (if in home position) Reset of emergency stop Request cell entry and request confirmation lamp Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 90: General Function Description
6.2 General function description 6.2 General function description The purpose of FlexLoader SC 6000 is to feed parts to the cameras field of view where they are to be identified by a camera and picked by a robot. The inconveyor is filled with parts manually.
Page 91: Rapid Program
Before programming the FlexLoader SC 6000, it is your responsibility to carefully read the chapter on safety, to become familiar with the FlexLoader SC 6000 and its options, and to become familiar with the safety devices.
Page 92: Flexloader Application Functionality
7.2 FlexLoader application functionality 7.2 FlexLoader application functionality Overview The FlexLoader SC 6000 application code handles the complete workflow of parts in the cell (e.g. unloading and loading of parts, option handling, picking from inconveyor and leaving on outconveyor). The application code consists of a basic executable skeleton, which must be modified by the integrator in order to match the actual application.
Page 93 ! in position 1 is picked. PickPartAtCamera i,\DesiredPosition:=1; ! call part specific routine for the found position IF bDetailInGripper=TRUE THEN %"Cam"+ValToStr(i)+"Position_"+ValToStr(nPosition)%; ENDIF ENDFOR Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 94 RefPosOut_ to move out of camera area at the same time as confirming. CallByVar "ConfirmPick",CameraNumber; CASE PICK_INTERLAYER_AND_CHANGE_BIN: ! Action only in cells with no feeder Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 95 ! TODO - if control image is used add code here to move robot in position for control image ENDPROC Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 96 ! TODO - Do something to take care of interlayer AND pallet change, can be removed if not a pallet picker cell ELSE PickCam_1; RefPosOutCam_1; Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 97 In the example above, this robot task has set TASK PERS bIsSlaveVisionRobot to FALSE. This means that all general communication that is needed is handled by Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 98 MoveFromCamera1. ConfJ\Off; ConfL\Off; ! TODO - set correct gripper to use depending on which part to pick Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 99 However, no general robot program can be provided for unknown parts, so the skeleton has to be adapted to each new part. Positions, movements and option Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 100 ! Distance [mm] from TCP to center of gravity in Z direction of tool for a part ! -----------------\ /------------------------ nCOGFromTCP_PART:=30; Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 101 7.2 FlexLoader application functionality Continued RAPID example MT_MoveRobotTo The principal motion in the FlexLoader SC 6000 is controlled by the MT_MoveRobotTo routine, which moves the robot from known zone positions to a target zone position. From these zone positions (via positions), movement within certain areas of the FlexLoader SC 6000 can be initiated.
Page 102: Flexloader Vision Interface
ResetAlarm "This is an alarm text"; ! Reset the warning ResetWarning "This is a warning text"; !Reset the information message ResetInformation "This is an information"; Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 103 If a signal name should change always search the code and make sure it is possible first. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 104: Flexloader Vision Lite Functionality
! Camera setting: grab images automatically or only from user program bAllowAutoGrab{CAMERA_NO_1}:=TRUE; ! Set image grab delay (after stop at sensor) nImageGrabDelay{CAMERA_NO_1}:=0.2; Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 105 The mechanism for changing the signal state (external signal, button, FlexPendant, ...) must be decided and implemented by the integrator. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 106: Flexloader Library Add-In
These return values should also be the name on the language folder to allow RAPID code to use that language. xx1900001037 Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 107 If needed, make sure this variable is set to 0 before starting normal execution and messaging usage in your user program. MT_bUIDialogActive Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 108 Typical examples are machine tools, buffer stations, in- and out-feeders and testing units. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 109 MoveVia concept you define in the user program a position and a mttargetdata: PERS robtarget pHome:=[[400,0,600], ..PERS robtarget pViaMachine:=[[-1500,300,1000], ..Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 110 !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 Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 111 This is to make sure the latest log history is always there even if the USB is full. For more detailed information about the instructions, see appendix. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 112: Flexloader Assistance And Utility Functionality
ToolSetup for more information about this. ClearToolData; ToolSetup GRIPPER_0,"Gripper 0",tGripper0,sdRobot,\StnIndex:=10; ToolSetup GRIPPER_1,MT_GetText("msgGripper1"),tGripper1,sdRobot, \StnIndex:=1,\OpenOrOnSignal:="DOF_OpenGripper1", \WaitTimeOpenOrOn:=0.5,\LabelOpenOrOn:=MT_GetText("msgOpened"), \WaitTimeCloseOrOff:=0.5,\LabelCloseOrOff:=MT_GetText("msgClosed"); ToolSetup GRIPPER_2,MT_GetText("msgGripper2"),tGripper2,sdRobot, \StnIndex:=2,\OpenOrOnSignal:="DOF_OpenGripper2",\WaitTimeOpenOrOn:=0.5, \LabelOpenOrOn:=MT_GetText("msgOpened"),\WaitTimeCloseOrOff:=0.5, \LabelCloseOrOff:=MT_GetText("msgClosed"); ToolSetup COMPRESSED_AIR_1,MT_GetText("msgCompressedAir1"), tGripper0,sdRobot,\StnIndex:=3,\OpenOrOnSignal:="doValve5Gripper", \WaitTimeOpenOrOn:=0.5,\LabelOpenOrOn:=MT_GetText("msgOn"), \WaitTimeCloseOrOff:=0.5,\LabelCloseOrOff:=MT_GetText("msgOff"); Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 113 In most cases RGB lighting is used. ! predefined colors: RED, GREEN, BLUE, WHITE, YELLOW Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 114 This module is loaded as shared which makes those routines accessible through all tasks. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 115: Flexloader Machine Tool Interface Functionality
Machine1Action CLOSE_DOOR; Machine1Action CYCLE_START; Different machine tools have different behavior. As described in the previous section, FlexLoader SC 6000 supplies a comprehensive set of tools and adjustment possibilities to handle these behaviors. CAUTION All predefined states and actions that are used in the template module shall be implemented or deleted.
Page 116 ! TODO - Send signal to machine DEFAULT: ! TODO - No valid action to perform, ! create alarm or do something if needed ENDTEST ENDPROC Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 117: Flexloader Options Functionality
! based on manual request controlled by integrator PrepareLeaveInStatisticalOutlet; LeaveSampleOutlet; (in ModCam1.mod) ! inform operator if part needs to be removed from outlet PrepareSamplePartRemoval; Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 118: Worldzones
FlexLoader SC 6000 offers predefined WorldZone handling in the module Common.sys. The FlexLoader SC 6000 defined WorldZones are active in both jogging mode and automatic mode. The following zone is predefined and must be configured during commissioning.
Page 119: Operation
During teachin, the operator workstation is located at the FlexLoader Vision monitor. WARNING FlexLoader SC 6000 may only be operated by trained operators with the required knowledge of the functions and risks related to FlexLoader SC 6000. DANGER Before FlexLoader SC 6000 is started or restarted, always check that all safety devices are working properly and that no damage can be caused at startup.
Page 120: Powering On The Flexloader Sc 6000
• Reset the emergency stop. • Open and close at least one internal FlexLoader SC 6000 cell door. • Reset the door status by shortly turning the reset key. Optionally, if a light curtain is present, a long light curtain reset may be needed (0.5 s) first, followed by a second reset for the whole cell.
Page 121: Shutting Down The Flexloader Sc 6000
8 Operation 8.3 Shutting down the FlexLoader SC 6000 8.3 Shutting down the FlexLoader SC 6000 1 Stop FlexLoader SC 6000 and await a complete cycle stop. 2 Exit the FlexLoader Vision application. 3 Turn off the computer. 4 Turn off the main switch.
Page 122: Operating Flexloader Sc 6000 With Flexloader Vision
FlexPendant. Starting with the robot in manual mode DANGER Running FlexLoader SC 6000 in manual mode with an operator close to the robot, the machine tool and FlexLoader SC 6000 options leads to increased risks for the operator.
Page 123 8 Operation 8.4 Operating FlexLoader SC 6000 with FlexLoader Vision Continued FlexLoader SC 6000 can be run with open doors. The robot operating mode must be manual with reduced speed. Upon clicking Start, FlexLoader Vision notifies the operator about the manual mode.
Page 124: Emergency Stop
Restarting after emergency stop WARNING Ensure that a restart of FlexLoader SC 6000 does not cause any risks of damage to equipment or personal injury. 1 Twist (or pull out, depending on button model) all activated emergency stop buttons to reset them. The blue reset button on the operating panel starts flashing.
Page 125: Entry Control
8.6 Entry control 8.6 Entry control Introduction The FlexLoader SC 6000 is well prepared for typical entry control handling. The application RAPID code is expected to handle entry requests and operator interaction through it's I/O system. The optional FlexLoader Standard Safety handles the protective stop and manual operation of equipment.
Page 126 As soon as the door has been unlocked, the green lamp is lit without flashing. Manual operation of dangerous equipment By default the protective stop is activated as soon as any FlexLoader SC 6000 door is opened. This deactivates dangerous equipment in the cell. Sometimes, such equipment must be activated for test operation.
Page 127: Safemove Operation
(override) is enabled. Cyclic brake check The FlexLoader SC 6000 is programmed to automatically perform the cyclic brake check that is needed for the secure operation with SafeMove. The safety break check is normally performed at the home position of the robot.
Page 128 In short, move the robot to a suitable position, preferably its home position. Then, call the service routine SoftwareSync. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 129: Manual Gripper Control
To do so, press the enabling device on the FlexPendant. Turn the key to reset the door safety and to activate the air supply. As soon as the enabling device is released, the air supply is stopped. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 130: Conveyor Operations
This requests permission for manual operation from the robot, and the lamp in the knob starts to flash. The lamp lights continuously as soon as FlexLoader SC 6000 can be run in manual mode. WARNING...
Page 131 During automatic operation, the outconveyor is controlled based on the robot being able to leave parts. Parts can be picked from the outconveyor during automatic operation. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 132 (warning) is switched on. The operator must then pick off the parts. The belt either starts automatically when the parts are picked off, or the operating mode knob must be turned briefly (1s) to emptying and back. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 133: Indicator Lamps
8.10 Indicator lamps 8.10 Indicator lamps The indicator lamps at the front and back of FlexLoader SC 6000 are used to indicate the status of the system and notify the operator of any errors or warnings. Any error messages and warnings are also displayed on the FlexPendant.
Page 134: Statistical Outlet
If the outlet was opened while the robot was moving, please follow instructions in section on Emergency and SafeMove stop, see Emergency stop on page 124 SafeMove operation on page 127. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 135: Maintenance
Always follow the general safety instructions, see Safety on page This section covers maintenance of both FlexLoader SC 6000 and options that are not included in all installations. If the installation contains further parts, maintenance instructions may also be found in other documentation.
Page 136: Mechanical Maintenance
9.2 Mechanical maintenance 9.2 Mechanical maintenance FlexLoader SC 6000 overall cleaning What: Overall cleaning of the FlexLoader SC 6000. When: Once / week. More often if needed. How: Let the robot move to its home position (-> entry request). Clean all surfaces from chips, oil and other material that might disturb correct function.
Page 138: Electrical Maintenance
When: Every 3 months. How: Inspect all connections and make sure that they are secured properly and that there is no risk of play. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 139: Pneumatic Maintenance
Figure 9.1: Opening the filter housing Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 140 Refill with a suitable oil until the oil level is above minimum level. The recommended oil is Festo special oil as per ISO VG 32 (type Festo OFSW-32). Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 141: Backup
What: Do a complete recovery image of the vision system. When: After major system changes, upgrades or updates. How: Follow instructions in the FlexLoader Vision product manual. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 142: Other Maintenance
Note Feature updates shall not be installed on the PC. This is defined by deselecting the "Defer feature updates" switch. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 143: Repair
10.1 Introduction 10 Repair 10.1 Introduction This section describes how to repair FlexLoader SC 6000 and options that are not included in all installations. If the installation contains further parts, repair instructions may also be found in other documentation. Most repairs of FlexLoader SC 6000 are relatively straightforward to carry out. The most important procedures can be found in this section.
Page 144: Conveyors
Prior to all work with the conveyors: After positioning the belts in suitable positions, safely shut the power to the FlexLoader SC 6000 down and lock against accidental turn-on. Exchange of conveyor belt Exchange a conveyor belt by the following procedure •...
Page 145 Protective caps and release points idler drum in middle of conveyor Pos. Description In-conveyor points of interest Out-conveyor points of interest Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 146 Refit the idler drum below the middle of the conveyor. • Take special care to the belt path below the conveyor. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 147 Adjust belt tension according to instructions in the maintenance section. DANGER Power to the FlexLoader SC 6000 has to be restored prior to mounting the protection caps, in order to perform the belt adjustment. Be careful when adjusting the belt. Risk for finger squeeze.
Page 148: Illumination
10.3 Illumination DANGER Prior to work with the illumination: Safely shut the power to the FlexLoader SC 6000 down and lock against accidental turn-on. Exchange of illumination units is described in the maintenance section. In rare cases, the complete luminaires have to be exchanged. Use the following procedure: •...
Page 149: Flexloader Vision
To replace the camera with the least possible impact on existing detail teachin, use the following procedure: WARNING Before replacing the camera: Switch off the current to FlexLoader SC 6000 and lock the switch to prevent unintentional switching on. 1 Disconnect the camera cable.
Page 150 Replacing the camera lens on page 149. 5 Reinstall the camera mounting plate on the FlexLoader SC 6000 frame. Do not tighten the screws firmly yet. 6 Attach the camera cable. 7 Turn on power to the FlexLoader SC 6000.
Page 151: Standard Gripper
DANGER Before carrying out work on the gripper: Safely shut down the pneumatic supply to FlexLoader SC 6000 and lock the switch to prevent unintentional switching Replacing the gripping module on the gripper To replace one or more gripping modules (Schunk): 1 Move the robot to a suitable service position.
Page 152: Re-Grip Table
However, check if the robots work object has to be redefined or if picking positions have to be adjusted. xx1900000393 xx1900000394 FlexLoader SC 6000 re-grip table in two different configurations Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 153: Turn Station
10.7 Turn station DANGER Prior to work with the turn station: Safely shut the pneumatic supply to the FlexLoader SC 6000 down and lock against accidental turn-on. Exchange of gripping module on turn station The gripping module (Schunk) can be exchanged by the following procedure •...
Page 154 If there are any changes in position/design between the new and old unit the robot positions need to be updated. xx1900000397 FlexLoader SC 6000 turn station, showing the rotation module and the valve positioning Exchange of valves For exchange of valve modules in the turn station follow the first steps of instructions above (exchange of rotation module) in order to obtain access to the valve package.
Page 155: Air Cleaning Box (Option)
Safety DANGER Before carrying out work on the air cleaning box: Safely shut down the pneumatic supply to the FlexLoader SC 6000 and lock the switch to prevent unintentional switching on. Components of the air cleaning box and deburring tool xx1900000398 Pos.
Page 156 Replacing the valves controlling the air cleaning nozzles To replace one or more valve modules (Festo), use the same procedure as for the gripper valves, see Standard gripper on page 151. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 157: Grinding/Deburring Units (Option)
DANGER Before carrying out work on the grinding or deburring units: Safely shut down the pneumatic supply to the FlexLoader SC 6000 and lock the switch to prevent unintentional switching on. Components of the air cleaning box and deburring tool xx1900000398 Pos.
Page 158 4 Replace the valve with a new one. 5 Reinstall the air cleaning box in reverse order. Make sure the air cleaning box is correctly connected to the pins placed in the FlexLoader SC 6000 frame. Continues on next page...
Page 159 CAUTION Run the system at a reduced speed during the first cycles, to ensure that the air cleaning box is in the correct position. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 160: Air Preparation Units
4 Press EDIT button once and the display says [Hy]. 5 Use the UP/DOWN button to set the correct value. 6 Press EDIT twice. 7 Done. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 161 3 If the valve opens too fast or too slow, adjust the valve by half a turn at the time, until the system operates correctly. 4 Make sure the pressure switch is adjusted as described above. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 162: Marking Unit
CAUTION Run system at slow speed for the first cycles to ensure the air cleaning box is in correct position. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 163: Robot Mounting/Dismounting
• ABB 4600: 6 bolts M16 x 60, 6 washers 17 x 30 x 3, quality 8.8 • ABB 2600: 3 bolts M16 x 60, 3 washers 17 x 30 x 3, quality 8.8...
Page 164: Software
A FlexLoader Vision backup that restores the system to its factory settings is saved on a separate USB drive. See the backup and recovery information in the FlexLoader Vision manual for more information. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 165: Troubleshooting
Check machine tool. 91 361 MAX_HEIGHT_EXCEEDED_UN- Maximum part height for unloading ex- LOAD ceeded. Reduce height or check value of FEED- ER_MAX_HEIGHT. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 166 Check communication status and reset marker unit. 91 424 MARKER_UNEXPECTED_AN- Marker unit unexpected response. SWER Check communication status and reset marker unit. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 167 Other FlexLoader Vision related problems can often be solved by checking the FlexLoader Vision generated log-file. Refer to the FlexLoader Vision manual for information on extended logging. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 168 The marking unit can - if in rare cases necessary - be reset by shortly pressing the red button in the control cabinet. It is located directly on the side of the marking unit control unit. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 169: Decommissioning
It deals with how to handle potentially dangerous components and potentially hazardous materials. When decommissioning the FlexLoader SC 6000, start with decommissioning of the robot according to the robot product manual. Disposal of storage media Before disposal of any storage equipment (anything from an SD card to a complete controller), make sure that all sensitive information has been deleted.
Page 170: Environmental Information
Disposing of this product correctly will help save valuable resources and prevent any potential negative effects on human health and the environment, which could otherwise arise from inappropriate waste handling. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 171 Cables, connectors, etc. Aluminium Heat sinks on power supplies and drive units Lead Electronics Brominated flame retardants Electronics Oil, grease Gearboxes Neodymium brakes Motors Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
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Page 173: Spare Parts
13 Spare parts 13 Spare parts Spare part list is not included in the manual but is delivered as a separate document. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
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Page 175: Diagrams
The circuit diagram is not included in this manual, but delivered as separate document. Pneumatic diagram The pneumatic diagram is not included in this manual, but delivered as separate document. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
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Page 177: A Project Specific Parameters That Can Be Adapted
These parameters are defined as a user-defined PLC in FlexLoader Vision. Parameters can be changed, renamed, and added. See the FlexLoader Vision manual for more detailed information about user-defined PLC. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
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Page 179: B Robot I/O
Signal from air preparation unit that air pressure is ok. Spare signals The following signals are defined for general use. Name Description diSpareInterface1 Spare input signal Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 180 Activate valve 4 on air cleaning box doValve5AirClean Activate valve 5 on air cleaning box doValve6AirClean Activate valve 6 on air cleaning box Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 181 Controls the green component of RGB signal light. doBlueRGB Controls the blue component of RGB signal light. doVisionLightsOn Controls the lightning for the vision camera. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
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Page 183: C Internal Communication
Response: "RUN OK\0D\0A" A number of advanced commands can be issued to the marking unit controller. Please refer to the marking units manual for in-depth information. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
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Page 185: D Pre-Configuration Settings
8, Number of stop bits: 1, Flow control: None, Duplex: Full FlexLoader Vision pre-configuration FlexLoader Vision is pre-configured with the options that are present in the delivered FlexLoader SC 6000. If needed, this pre-configuration can be changed. See the FlexLoader Vision manual for detailed information on configuration. Air preparation pre-configuration The pressure switch and the safety valve are pre-configured.
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Page 187: E Frequency Inverter
ACS355 which is used in the FlexLoader SC 6000. The document specifies the settings of the essential parameters that are required for tuning the FlexLoader SC 6000. Further optimization and settings can be done, for this refer to User’s manual ACS355 user's manual (3AUA0000066143), which can be found on the ABB website.
Page 188 (one at a time). To do other tasks, first return to the main menu and select the appropriate mode. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 189 The following default parameter settings are used for frequency converters (e.g. U11 and U12). Parameter number Description Setting Value 9901 LANGUAGE ENGLISH 9902 APPLIC MACRO ALTERNATE 9903 MOTOR TYPE Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 190 ACCEL TIME 1 0.5 s 2203 DECELER TIME 1 0.1 s 9906 MOTOR NOM CURR Current according to motor data sign Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 191 0001 Current limit exceeded 0002 Overvoltage 0003 High temperature frequency inverter 0004 Short-circuit in motor cables or motor 0006 Undervoltage 0009 High motor temperature Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
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Page 193: F Flexloader Rapid Reference
Constant prefixes and naming Constants do not have any prefix. They are named with capital letters, with words divided by “_”. Examples are LOW_AIR_PRESSURE and STATE_LOAD_MAIN. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 194: Flexloader Vision Interface
Important routines Routine Description BeltReadyTrap1..4 Handles notifications from the feeder system. CoordTrap Receives all coordinate and result information from FlexLoader Vision. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 195 (a new image is taken before the previous image has been pro- cessed). Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 196 FlexLoader Vision is to be returned. PROC StopVisionSys- Stops FlexLoader Vision at the robot’s request. tem() Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 197 FlexLoader Vision from the robot. PROC ResetWarn- Called up to reset a certain warning that was set in FlexLoader ing(sMessage) Vision from the robot. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 198 This routines performs the actual calibration in cooperation with tion3DRoutine() FlexLoader Vision. PROC Calibration3DUp- Support routine for convenient update and control of all calibration datePositions() positions. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 199 Changes parts in more than one camera. Internally uses Vision- ChangeParts(\dnum ControlPartSelect as many times as needed. PartCamera1,\dnum PartCamera2,\dnum PartCamera3,\dnum PartCamera4) Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 200 ControlImage, but could also be used from user aNumber,\num Position- program like in the initialization phase. sToUse{*},\cameraset- ting CameraSettingsCon- trol,\string BlackRegion- Values) Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 201: Flexloader Application Functionality
F FlexLoader RAPID reference F.3 FlexLoader application functionality F.3 FlexLoader application functionality Overview The FlexLoader SC 6000 application functionality handles application and part specific aspects of the robot cell. The integrator is responsible for adapting this functionality to the actual application. Module Description Main.pgf...
Page 202 This is an intermediate position used when leaving the picking Cam_1() area. Update this position to suite the current application. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 203 PROC LoadMa- This procedure is for loading the main chuck in the machine chine_MAIN() tool. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 204 PROC UnLoadMa- This procedure is for first unloading the sub spindle and loading chine_SUB_Load_MAIN() the main spindle in machine tool. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 205 DOF_LoaderOut. PROC SetSpeed() Calculate and set correct robot speed depending on weight of part/parts in gripper. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 206 PROC Update_ViaPosition() Make it easier to teach all via-positions. Only called in manual mode. A schematic view of the principle motion within the FlexLoader SC 6000 and main positions are shown in the next figure. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D ©...
Page 207 F FlexLoader RAPID reference F.3 FlexLoader application functionality Continued The pre-configured setup of FlexLoader SC 6000 zones is shown in the figure thereafter. xx1900000400 Schematic motion overview Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D...
Page 208 F FlexLoader RAPID reference F.3 FlexLoader application functionality Continued xx1900000409 Schematic zone overview Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 209: Flexloader Vision Lite Functionality
This action is then called from the MainRoutine1 to handle the main flow. PROC ValidateL- Add current branch to validated array. iteBranch() Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 210: Flexloader Conveyor System Control
F.5 FlexLoader conveyor system control F.5 FlexLoader conveyor system control Overview The FlexLoader SC 6000 conveyor system control is structured according to the following overviews. These modules are part of the internal control system and must not be changed. Module Description FeedLine.mod...
Page 211: Flexloader Assistance And Utility Functionality
FeederOut.sys Functionality for control of outconveyor and leave pattern calcula- tion. Could be used in all motion tasks. GlobalCodeAndCon- Shared module containing global code for FlexLoader SC 6000 fig.sys RAPID code. IndicationLights.mod Module for handling indicator lights according to operational status.
Page 212 LeaveOffset. Speed,num spaceB- etweenParts,num spaceToEdge,num yDistanceToLeave,\bool leaveFromLeft,\string RunFeederDOSignal- Name,\string Al- lowLeaveDOSignal- Name,\string FeederHas- MovedDOSignal- Name,\string Block- EmptyingModeSignal- Name) Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 213 Name) FUNC bool getFlash- This function returns true or false depending on a timer and a ingHz(num Hz) wanted frequency. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 214 The background task with module IndicationLights.mod, handles the indicator lights according to operational status. Routine Description PROC main() Main loop for task. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 215 Routine Description FUNC bool checkAll- Returns TRUE if all robot mounted tools are empty. ToolsEmpty() Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 216 Returns current tool status label. Depending on tool current status Status(\bool Rob- return corresponding text label from the tool declaration. Hold,\num RobotNum- ber,dnum Tool) Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 217 Data which is not passed as argument will not be ber,\string La- touched. bel,\tooldata Tool_Data,\mtsta- tiondata Station,\num StnIndex,\string OpenOrOnSignal,\num Wait- TimeOpenOrOn,\string LabelOpenOrOn,\string CloseOrOffSignal,\num WaitTimeCloseOr- Off,\string LabelCloseOr- Off,\string BlockManual- Control) Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 218: Flexloader Machine Tool Interface Functionality
Overview The FlexLoader SC 6000 application functionality handles machine tool and part specific aspects of the FlexLoader SC 6000. The integrator is fully responsible for adopting this functionality to the actual application. Described below is two different template modules. Those describes which routines and data that is needed to communicate with a machine.
Page 219 Receives information from machine tool that a part soon needs to be loaded. If needed, add code to confirm to the machine tool that a signal has been received. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 220 Examples for predefined machine checks/waits: DOOR_OPENED, PREPICK_OK, LOAD_SUB_OK, LOAD_MAIN_OK, UNLOAD_SUB_OK, UNLOAD_MAIN_OK, HOME_POSITION_OK, MAIN_CHUCK_OPENED, MAIN_CHUCK_CLOSED, SUB_CHUCK_OPENED, SUB_CHUCK_CLOSED • Examples for predefined machine actions: Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 221 OPEN_CHUCK_MAIN, OPEN_CHUCK_SUB, OPEN_DOOR, PREPARE_LOAD_MAIN, PREPARE_LOAD_SUB, PREPARE_UNLOAD_MAIN, PREPARE_UNLOAD_SUB, CYCLE_START, INIT_MACHINE, STOP_MACHINE There are further predefined values in GlobalCodeAndConfig.sys that can be implemented in machine communication modules. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 222: Flexloader Options Functionality
PROC SetMarker() Initiates marking unit, loads marking file and sets correct marking string. PROC StartMarker() Start marking of a part. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 223 The module SafeMove.sys handles functionality related to SafeMove. Routine Description PROC CheckCBC() This procedure is executed to check if cyclic brake check is needed. Brake check is performed automatically. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
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Page 225: G Flexloader Library Add-In Reference
The following example illustrates the instruction MT_ClearAllPartInfo. Example 1 MT_ClearAllPartInfo; This will clear all part info in the all trackers defined in the program. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 226: Mt_Clearpartinfo - Resets Part Information Of A Part Tracker
Index number of the part tracker to clear. Note, each station can have up to 20 trackers. If argument not passsed, index number 1 is used. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 227: Mt_Copypartinfo - Copies Part Info Between Trackers
The station to copy part tracker data to. In this argument, the name of the mtstationdata definition is passed as a string. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 228 G.1.3 MT_CopyPartInfo - Copies part info between trackers RobotWare - OS Continued \ToIndex Data type: num Specifies which part tracker index in ToStation to copy part info to. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 229: Mt_Createalarm - Creates New Alarm Or Message
\ErrorNumber Data type: num Defines error number for the message if needed. \Domain Data type: num Defines domain number for the message if needed. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 230: Mt_Errwrite - Creates Error Log Message In Local Language
The message data that should be used to write message to error log. WildCardTexts{*} Data type: string array String array of wild card text to replace wild cards in message texts. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 231: Mt_Getpartinfo - Gets Any Kind Of Part Tracker Data From A Part Tracker
Stores TypeCode into this INOUT argument. See mtpartdata. \AuxCode Data type: dnum Stores AuxCode into this INOUT argument. See mtpartdata. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 232 \State Data type: mtpartstate Stores State into this INOUT argument. See mtparttracker. \UserDef Data type: string Stores UserDef into this INOUT argument. See mtparttracker. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 233: Mt_Gohome - Moves Robot To Home Zone
MT_GoHome is used to move robot to home zone. Basic examples The following example illustrates the instruction MT_GoHome. Example 1 MT_GoHome; Moves robot to position in the mttargetdata ZONE_HOME. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 234: Mt_Initializemessagehandling - Initiates The Alarms And Messaging Module
Arguments MT_InitializeMessageHandling [\ForceLoading] \ForceLoading Data type: switch Forces loading of all messages even if there hasn’t been a language change or text file changes. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 235: Mt_Log - Creates A Log Message In Log File
Specifies the source of this log message, for normally routine name. Free for user to use it as something else than routine name. msg{*} Data type: string array An array of log message lines. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 236: Mt_Logenable - Enables Or Disables Logging
Specifies which kind of log level which should be turned on or off. If argument not used, turn on or off all kind of log levels. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 237: Mt_Movepartinfo - Moves Part Info Between Part Trackers
The station to move part tracker data to. In this argument, the name of the mtstationdata definition is passed as a string. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 238 G.1.11 MT_MovePartInfo - Moves part info between part trackers RobotWare - OS Continued \ToIndex Data type: num Specifies which part tracker index in ToStation to move part info to. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 239: Mt_Moverobotto - Moves Robot To A Specific Zone
If TargetZone is passed through a variable and not by it’s real variable definition, then use this variable to pass the real name of the zone to get this working. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 240: Mt_Movetostart - Moves Robot To Closest Start Position
If used, robot will act as in auto and check distance to closest position and if too far away ask the operator if movement to that position is ok or not. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 241: Mt_Movetozonemenu - Shows Manual Menu To Move Between Zones
The following example illustrates the instruction MT_MoveToZoneMenu. Example 1 MT_MoveToZoneMenu; If robot is in manual mode, the selection list of possible zones to move to will show on Flexpendant. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 242: Mt_Resetalarms - Resets All Or A Specific Alarm
String array of wild cards text to look for. All text must match with the active alarms wild card text to reset the message. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 243: Mt_Setalarm - Sets An Alarm To Active
System unique string that gives the possibility to point to a specific message. \WildCardText{*} Data type: string array String array of wild cards text to use for this message. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 244: Mt_Setpartinfo - Sets Part Information Of A Part In A Specific Tracker
State to store in the specified part tracker. See mtparttracker. \UserDef Data type: string User defined data to store in the specified part tracker. See mtparttracker. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 245: Mt_Updatemessagetextsifneeded - Reads Messages Into Message Array If Needed
This will always update message texts from files to RAPID system. Arguments MT_UpdateMessageTextsIfNeeded(\ForceLoading) ForceLoading) Data type: switch Use if texts always should be updated independent of changes to language settings or file modifications. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 246: Functions
Index of the alarm that should be returned from the active alarm list. If not used, index 1 (latest created alarm) will be returned. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 247: Mt_Getcurrentzone - Get Zone Where Robot Is Positioned Now
Target data matching the current position of the robot. Arguments MT_GetCurrentZone(\INOUT ZoneName) ZoneName) Data type: string Name as a string of the returned zone. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 248: Mt_Getmessage - Get Complete Message Data
Return value Data type: mtmsgdata Arguments MT_GetMessage (Identifier) Identifier Data type: string System unique string that gives the possibility to point to a specific message. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 249: Mt_Getnumberofactivealarms - Gets Number Of Active Alarms
This will fetch the number of active alarms in the system and store it into NumberOfAlarms. Example 1 VAR num NumberOfAlarms; NumberOfAlarms:=MT_GetNumberOfActiveAlarms(); Return value Data type: num Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 250: Mt_Getpartstate - Gets Current Part State Of A Part In Specific Tracker
\Index Data type: num Index number of the part tracker fetch state from. Note, each station can have up to 20 trackers. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 251: Mt_Gettext - Gets A Selected Text Line From A Message
\Text4 Data type: switch Gets the body text number 4. \Text5 Data type: switch Gets the body text number 5. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 252 Gets the body text number 6. \Text7 Data type: switch Gets the body text number 7. \Text8 Data type: switch Gets the body text number 8. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 253: Mt_Getviaposition - Gets Corresponding Via Position For A Zone
Moves robot to the via position connected to ZONE_MACHINE. Return value Data type: robtarget Arguments MT_GetViaPosition([Target]) Target Data type: mttargetdata The mttargetdata for the target for which the robtarget should be fetched. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 254: Mt_Isalarmactive - Check If An Specific Alarm Is Active
Only return true if there is an active alarm which is connected to this station. This argument can’t be used together with Identifier argument. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 255: Mt_Uiboolentry - Show An Yes No Question In Localized Language
Default, each string in the argument \MsgArray will be on separate line on the display. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 256 BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 257 Instead of reacting when persistent boolean is set to TRUE (or already TRUE), the instruction should continue in the error handler (if no BreakFlag is Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 258 0 again. No supervision of stop or restart exist. The signal is set to 0 when the function is ready, or when PP is moved. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 259: Mt_Uidnumentry - Shows A Localized Dnum Entry
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. See Predefined data on page 262. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 260 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 261 No supervision of stop or restart exist. The signal is set to 0 when the function is ready, or when PP is moved. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 262 Continued Predefined data !Icons: CONST icondata iconNone := 0; CONST icondata iconInfo := 1; CONST icondata iconWarning := 2; CONST icondata iconError := 3; Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 263: Mt_Uimessagebox - Show A Message Box In Localized Language
Default, each string in the argument \MsgArray will be on separate line on the display. [\Buttons] Data type: buttondata Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 264 The maximum amount of time in seconds that program execution waits. If no button is selected within this time, the program continues to execute in the error handler Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 265 BreakFlag is used (see below). The constant ERR_TP_PERSBOOLBREAK can be used to test whether or not this has occurred. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 266 CONST btnres resRetry := 3; CONST btnres resIgnore := 4; CONST btnres resCancel := 5; CONST btnres resYes := 6; CONST btnres resNo := 7; Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 267: Mt_Uinumentry - Shows A Num Entry Box In Localized Language
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. See Predefined data on page 270. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 268 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 269 No supervision of stop or restart exist. The signal is set to 0 when the function is ready, or when PP is moved. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 270 Continued Predefined data !Icons: CONST icondata iconNone := 0; CONST icondata iconInfo := 1; CONST icondata iconWarning := 2; CONST icondata iconError := 3; Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 271: Data Types
Data type: num Number of the robot axis to use. 1-6 normal robot axis, 7-12 external axis. Range Data type: mtrange The range for this axis. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 272: Mtloglevel - Define A Log Level
MT_LogEnable. Value Symbolic constant Comment MT_LVL_ERROR MT_LVL_WARNING MT_LVL_INFO MT_LVL_DEBUG MT_LVL_USER Characteristics mtloglevel is an alias data type for num and consequently inherits its characteristics. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 273: Mtmsgdata - Alarm And Message Definition Data
Second text line of body text for the message. Text3 Data type: string Third text line of body text for the message. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 274 Data type: string Seventh text line of body text for the message. Text8 Data type: string Eighth text line of body text for the message. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 275: Mtpartdata - Describes A Part
Name of the predefined loaddata associated with this part. This can remain empty, if not needed or if the loaddata information shall be handled flexible in part trackers. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 276: Mtpartstate - Describes A Part State
MT_SetPartState and MT_GetPartState. Value Symbolic constant Comment psEMPTY psRAW psMACHINED psFINISHED psCOOLED Characteristics mtpartstate is an alias data type for num and consequently inherits its characteristics. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 277: Mtparttracker - Describes All Data For A Part Tracker
This can remain empty, if not needed or if the partload information shall be handled by the part data in Part. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 278 String for user defined content, e.g. information, parameters, name of routines to be executed etcetera. The content is, as the name says, user-defined and so must be parsed by the application program. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 279: Mtrange - Describes A Robot Axis Range
The data type mtrange has the following components: Data type: num Start value of the range. Data type: num Stop value of the range. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 280: Mtstationdata - Describes A Station
Station has been selected (TRUE) or deselected (FALSE) by the HMI. Only if no signal name is defined, then the station can be selected or deselected through the HMI. Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 281: Mttargetdata - Describes A Robot Zone
Data type: mtaxisrange The axis and range for optional axis check. Set axis number to 0 if not using this. Continues on next page Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 282 The following symbolic constants of the data type mttargetdata are predefined and can be used when specifying a condition for instructions like MT_GetCurrentZone. Value Symbolic constant Comment [9999,"", ZONE_UNDEFINED [-9E9,9E9], [0,[0,0]], [0,[0,0]], [0,[0,0]], [0,[0,0]]] Product manual - FlexLoader SC 6000 3HAC051768-001 Revision: D © Copyright 2014-2020 ABB. All rights reserved.
Page 284 PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics and Motion 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2014-2020 ABB. All rights reserved. Specifications subject to change without notice.

ABB FlexLoader SC 6000 Product Manual

1 Getting Started

2 Safety

3 Installation

4 Commissioning

5 Interface

6 Function Description

7 RAPID Program

8 Operation

9 Maintenance

10 Repair

11 Troubleshooting

12 Decommissioning

13 Spare Parts

14 Diagrams

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