2 FlexGripper-Vacuum2.3.5. Commissioning393HAC040633-002 Revision: -NOTE!The target points ’pHome’, ’pPlace’ and its offsets must be defined and taught firstly.PFPS_PlaceDownBox()PROC PFPS_PlaceDownBox()TPWrite " Robot move to place postion! ";MoveL Offs(pPlace,-10,0,100), v100, z20, tPFPSVacGrip\WObj:=wobj0;ISleep PFPSVacuumMonitor1;ISleep PFPSVacuumMonitor2;TriggIO tTrigger2, 0\GOp:=GoVacuume, 992;TriggL pPlace, v50, tTrigger2, fine, tPFPSVacGrip\WObj:=wobj0;WaitTime\InPos, 0.2;WaitTime\InPos, 2.0;ISleep PFPSVacuumMonitor3;ISleep PFPSVacuumMonitor4;TriggIO tTrigger2, 0\GOp:=GoVacuume, 1023;TriggL pPlace, v50, tTrigger2, fine, tPFPSVacGrip\WObj:=wobj0; bPartPicked:=FALSE;WaitTime\InPos, 0.2;TPWrite " Robot finish to place box! ";MoveL Offs(pPlace,-10,0,100), v100, z20, tPFPSVacGrip\WObj:=wobj0;TPWrite " Robot move to home postion! ";MoveJ pHome, v100, fine, tPFPSVacGrip\WObj:=wobj0;ENDPROCContinuedContinues on next page
