2 FlexGripper-Vacuum2.3.5. Commissioning3HAC040633-002 Revision: -40NOTE!The target points ’pSearch’ and its offsets, ’pPickPallet’ and its offsets, ’pHome’, ’pPlace’and its offsets, ’pPick’ and its offsets must be defined and taught firstly.exePallet()During the process, first the robot with the FlexGripper-Vacuum goes to search the pallet,then pick up the pallet, finally place down the pallet.PROC exePallet()TPWrite " Robot move to test vacuum postion! ";MoveJ pSearch, v100, fine, tPFPSVacGrip\WObj:=wobj0;TPWrite " Robot ready to search pallet! ";PFPS_PalletPicker \Open;PFPS_PalletSeacher \Search;IWatch PFPSPosSeachMonitor;MoveL Offs(pSearch,0,0,-480), v100, fine, tPFPSVacGrip\WObj:=wobj0;ISleep PFPSPosSeachMonitor;PFPS_PalletSeacher \Search;TPWrite " Robot start to search pallet! ";SearchL\Stop, DI10_03_PostionSeacher_Searched\Flanks, pPickPallet, pSearchEnd,v10, tPFPSVacGrip\WObj:=wobj0;PFPS_PalletSeacher \Back;MoveL Offs(pPickPallet,0,0,-13), v30, fine, tPFPSVacGrip\WObj:=wobj0;WaitTime\InPos, 0.2;TPWrite " Robot start to pick up pallet! ";PFPS_PalletPicker \Close;MoveL Offs(pSearch,0,0,-480), v30, fine, tPFPSVacGrip\WObj:=wobj0;MoveJ pSearch, v100, fine, tPFPSVacGrip\WObj:=wobj0;WaitTime\InPos, 2;TPWrite " Robot start to place down pallet! ";MoveL Offs(pSearch,0,0,-480), v100, fine, tPFPSVacGrip\WObj:=wobj0;MoveL Offs(pPickPallet,0,0,-18), v30, fine, tPFPSVacGrip\WObj:=wobj0;PFPS_PalletPicker \Open;MoveL Offs(pPickPallet,0,0,-480), v30, fine, tPFPSVacGrip\WObj:=wobj0;MoveJ pSearch, v100, fine, tPFPSVacGrip\WObj:=wobj0;TPWrite " Robot finish pick pallet test! ";WaitTime\InPos, 2;PFPS_PalletPicker\Close;ERRORIF ERRNO=ERR_WHLSEARCH THENTPErase;TPWrite " Warning!the pallet's position or the Forward sensor of ";ContinuedContinues on next page