ABB IRB 660 Product Manual

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

Contents

2 FlexGripper-Vacuum2.3.5. Commissioning3HAC040633-002 Revision: -42Reference Rapid codesGripper function is checked with the following rapid codes. Please modify the data in rapidcodes as needed before using it. The rapid codes are as follows:MODULE MainModuleLocal PERS robtargetpPick:=[[1908.03,-446.57,1007.54],[1.72802E-06,0.0867458,-0.996231,-5.63714E-07],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERS tooldatatPFPSVacGrip:=[TRUE,[[0,0,439],[1,0,0,0]],[80,[0,0,200],[1,0,0,0],0,0,4.097]];PERS Loaddata PFPSLoadEmpty:=[0.001,[0,0,0.001],[1,0,0,0],0,0,0];PERS num cycletime:=3.111;PERS num pace:=0;PROC main()var clock MyClock;MoveJ pPick, vmax, fine,tPFPSVacGrip\WObj:=wobj0;ConfJ \off;confl \off;pace:=0;clkreset MyClock;clkstart MyClock;for i from 1 to 5 doStartVaccum 1, \ZoneNo2:=2, \ZoneNo3:=3, \ZoneNo4:=4, \ZoneNo5:=5, \ZoneNo6:=6,\ZoneNo7:=7, \ZoneNo8:=8, \ZoneNo9:=9, \ZoneNo10:=10;WaitTime 0.2;GripLoad PFPSLoadFull;MoveL Offs(pPick,0,0,400),vmax,z200, tPFPSVacGrip\WObj:=wobj0;MoveL Offs(pPick,0,2000,400), vmax, z200, tPFPSVacGrip\WObj:=wobj0;MoveL Offs(pPick,0,2000,0), vmax, fine, tPFPSVacGrip\WObj:=wobj0;StopVaccum 1, \ZoneNo2:=2, \ZoneNo3:=3, \ZoneNo4:=4, \ZoneNo5:=5, \ZoneNo6:=6,\ZoneNo7:=7, \ZoneNo8:=8, \ZoneNo9:=9, \ZoneNo10:=10;WaitTime 0.1;GripLoad PFPSLoadEmpty;!Gripper start to back!MoveL Offs(pPick,0,2000,400), vmax, z200, tPFPSVacGrip\WObj:=wobj0;MoveL Offs(pPick,0,0,400),vmax,z200, tPFPSVacGrip\WObj:=wobj0;MoveL pPick,vmax,fine, tPFPSVacGrip\WObj:=wobj0;endforwaituntil\inpos,true;clkStop MyClock;ContinuedContinues on next page