ABB IRB 660 Product Manual

Also see for IRB 660: Operating manual Product manual Product specification

Contents

2 FlexGripper-Vacuum2.3.5. Commissioning353HAC040633-002 Revision: -2.3.5. CommissioningNOTE!ABB recommend that air connected to the FlexGripper should be: 4-6 bar, filtered (5ym),1600 L/min and non-lubricated.After the electrical and pneumatic connection of the FlexGripper, commissioning must bedone to test if the FlexGripper operates correctly.NOTE!Only 24V power is used in FlexGripper.Short circuit protection should be implemented by a fuse in the control cabinet by thecustomer.CAUTION!Hot parts may cause burns!Mechanical commissioning1. Manually test ten zones separately to check that each zone works individually. If not,check the connection of the air cables..2. Operate the pallet hook manually to check the lifting fingers move smoothly and reachthe predetermined position. If not, adjust the fixing location of the cylinder rod.Rapid routinesRoutines DescriptionInit_Interrupt() This routine is called to initialize the interrupt program.According to your using of the sensors, Please modify this routine.Totally five sensors are installed on the FlexGripper-Vacuum bydefault.PFPS_MainEntry() This routine is the main entry of the ‘Test run’ process.It can not be renamed, modified or deleted.PFPS_PalletPicker() This routine is called when the pallet hook is set to be open orclose.PFPS_PalletSeacher() This routine is called when the search cylinder goes forward andbackward to search the pallet.PFPS_PickUpBox() This routine is called when the robot goes to pick up boxes.PFPS_PlaceDownBox() This routine is called when the robot goes to place down boxes.exePickPlace() This routine is called when the robot goes to pick up and placedown boxes.The two routines ’PFPS_PickUpBox()’ and’PFPS_PlaceDownBox()’ are called during the process.exePallet() This routine is called when the robot picks up the pallet for testingthe vacuum hook.Continues on next page