OVRS-3U1 Robot Bodyside Unracking Specification

Automation
Robot Bodyside Unracking Specification

Custom Application Section OVRS-3U1
Version 1.0
August 2019
Opel Automobile GmbH
OV ME Strategy
Author(s):
Andras Gilles — OV / Body Automation Robotics
Execution
Fernando de Pablo — OV / Body Automation Robotics
Execution
Forward questions and comments to:

Bahnhofsplatz I
Mail Code IPC 42-74
D-65423 Ruesselsheim am Main
Andreas Gilles
Document revisions:
Date Revision By Revision history
2019-09 1.0 Andreas Gilles
August 2019 Robot Bodyside Unracking Specification 1 of 22

Version 1.0 OVRS-3U1 Robot
Bodyside Unracking
Specification.pdf
OV ME Strategy
Table of Contents
1 GENERAL ................................................................................................................................. 3
1.1 Scope ...................................................................................................................................................................... 3
1.2 Deviations .............................................................................................................................................................. 3
1.3 Normative References ......................................................................................................................................... 3
2 PROCESSING AND DESIGN REQUIREMENTS ..................................................................... 3

2.1 Introduction ........................................................................................................................................................... 3
2.2 Process Layout Description ................................................................................................................................. 4
2.3 Simulation Requirements ..................................................................................................................................... 4
2.4 EOAT Design Requirements ................................................................................................................................. 4
2.4.1 EOAT Sensor Requirements ....................................................................................................................... 5
2.4.2 EOAT Gripping Device Requirements ........................................................................................................ 7
2.5 Rack Docking Station Requirements .................................................................................................................. 7
3 RACK DESIGN REQUIREMENTS ............................................................................................ 8
4 ROBOT PROGRAMMING REQUIREMENTS........................................................................ 10

4.1 Robot I/O Mapping ............................................................................................................................................. 11
4.2 User Programs ..................................................................................................................................................... 12
4.3 Program Calling Structure ................................................................................................................................. 12
4.4 Frames .................................................................................................................................................................. 13
4.4.1 User Frame................................................................................................................................................ 13
4.4.2 Tool Frames .............................................................................................................................................. 14
4.5 Register Usage .................................................................................................................................................... 15
4.6 Position Register Usage ..................................................................................................................................... 15
4.7 Teaching the Rack Entry Position ..................................................................................................................... 16
4.8 Teaching the Rack Rear Position ...................................................................................................................... 16
4.9 Robot Fast and Slow Search Method ............................................................................................................... 16
4.10 Error Recovery Options ...................................................................................................................................... 17
4.11 ProcessFault Handling ........................................................................................................................................ 17
4.12 Robot Search Flow Chart ................................................................................................................................... 17

Version 1.0 OVRS-3U1 Robot
Bodyside Unracking
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1 General
1.1 Scope
This document is a stand-alone attachment to RS-3. It contains the robot programming and/or
integration requirements that apply to the custom, or non-standard, robot application described
within. Specific mechanical processing or design requirements related to the custom robot application
are also contained in this document. Implementation per this specification is the responsibility of the
applicable Process Design, Containerization, and Robot Execution groups.
Installation of custom robot software and programming described in this document is the responsibility
of the robot programming source or integrator for the system in question.
1.2 Deviations
Any deviations from this specification require the advanced written approval of the OV
AUTOMATIONrepresentative responsible for the project in question. Any approved deviations shall
only apply to that specific instance, and shall not be considered a change to the standard.
1.3 Normative References

The following normative references contain provisions that, through reference in this text, constitute
provisions of this standard. The editions indicated were valid at the time of publication. All normative
documents are subject to revision and the most recent editions of the normative standards indicated
below shall apply.
OVRS-3, Robot Integration Specification
OVRS-4, Global Standard Robot Interface
2 Processing and Design Requirements
2.1 Introduction
Robotic unracking is a customized robotic material handling (MH) application that employs a robot to
pick a specific type of part from a rack (either an in-process buffer rack or a shipping rack) and load the
part to a workstation. The success of a robotic unracking application is critically dependent on many
factors associated with process layout, rack design, and robot endof-arm tooling (EOAT) design, as well
as robot programming techniques.
A total of five individual bodyside unracking applications have been examined, primarily from two
assembly plants: Lansing Grand River (LGR) and Orion Assembly. This document summarizes the
requirements for processing and design, and provides guidance for integration and launch based upon
these successful applications.

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2.2 Process Layout Description

The robot picks one bodyside part, either an inner panel or an outer panel, from the rack and places it
on locating pins in a geo-set weld station. The robot can be at a fixed location on a riser of appropriate
height, or on a linear 7th axis slide. Typically the robot has a long arm (e.g. 3.0 meters) in order to reach
the last part in the rack.
Typically, a total of between 7and 16 bodyside parts hang vertically in the rack and do not touch each
other. Parts are retained by the top and bottom “V” details in the rack. The rack can be located at a
fixed position, on a turntable, or on an indexer.
The robot EOAT has a long range sensor that is used for fast approach to the part, a number of
proximity switches that are used for part plane alignment, two short range sensors, and V-blocks for
part location in the robot EOAT. The gripping devices on the robot EOAT can be a combination of
locating cylinders, grippers, and vacuum cups.
2.3 Simulation Requirements

In addition to the MH simulation requirement specified in RS-2, simulation shall be conducted to
identify the following for robotic unracking applications:
• Robot arm length required to reach all parts in the rack.

• Robot riser height and location fixed relative to the rack location or an additional linear axis
for reaching all parts in the rack.
• User frame that is aligned with the rack orientation and location.
• Tool frames that are aligned with appropriate sensors or V blocks.
• The robot EOAT configuration and orientation to move in and out clear of the rack.
• Estimated cycle time based on the path to unload the last rack position.
2.4 EOAT Design Requirements

Design of EOAT is critical to the success of robotic unracking applications. The following EOAT
requirements are documented based on successful best-practice applications of robotic bodyside
unracking.
The design in Figure 1 below is from the bodyside inner and outer panel unracking EOAT. This EOAT
concept has proven to be the most compact and reliable for this application.

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Figure 1: Robot EOAT with Gripped Part
EOAT sensors include:
1. [PPE05] Long range photo eye: targeted to B-pillar flat surface for fast approach
2. [PPE06] B-pillar FORE photo eye: targeted to B-pillar FORE edge for horizontal part location;
targeted to the right edge of B-pillar
3. PPE07] B-pillar AFT photo eye: targeted to B-pillar AFT edge for horizontal part location;
targeted to the left edge of B-pillar
4. [PPX01] Bodyside part present FORE puck switch: one of three sensors for part plane
alignment; targeted to top flat surface of the top rail before B-pillar
5. [PPX02] Bodyside part present AFT puck switch: one of three sensors for part plane
alignment; targeted to top flat surface of the top rail after B-pillar
6. [PPX08] Bodyside part present bottom prox switch: one of three sensors for part plane
alignment; targeted to bottom flat surface
7. [PLS03] V-block FORE limit switch: one of two V-switches for vertical part location; targeted
the edge of top rail before B-pillar
8. [PLS04] V-block AFT limit switch: one of two V-switches for vertical part location; targeted
the edge of top rail after B-pillar
EOAT gripping devices include:
1. [C01] FORE crowder

2. [C02] AFT crowder
3. [C03] Bottom right gripper
4. [C01] Bottom left gripper
5. [optional] Vacuum cups
2.4.1 EOAT Sensor Requirements
When designing EOAT, the following factors shall be considered for the sensors:

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1. Both long-range and short-range photo eyes should be adjustable field mode. It is critical
that the switch have a repeatable distance for transition from OFF an ON.
2. Identify the feature on the part that each searching sensor is targeting. It is critical that the
sensors can be repeatably triggered on the edge of the part feature for transition from OFF to
ON.
3. Examine and quantify the location variation of the targeted features when the part is hanging
in the rack. Target part features that have the least variation (most repeatable) in the part
hanging position.
4. Sensor ranges should be selected properly for the part feature and their location variation
within the rack. For example, PUCK proximity switches, PPX01 and PPX02, have longer
sensor range and are located closer to the position where the part hangs in the rack. The
location variation of those features is the smallest.
5. All searching sensors should be adjustable mechanically in several directions as indicated in
Table 1. Minimum adjustment should be +/- 1/2 inch in the each direction. 6. All searching
sensors should be targeted properly to the search plane as shown in Figure 2. The search
plane is often 1.5 inches vertically below the part hanging position to allow the V blocks to go
under the part for lifting.
Figure 2: EOAT Sensor Location During Search

Figure 2, shows the EOAT sensors searching for a part. For searching, the sensors must be targeted
1.5 inches below where they will be positioned when the part is gripped in the end effector.

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Table 1: EOAT Sensor Requirements

Mechanical
Adjustability
Sensor Description Purpose Sensing Range
(min. +/- ½ Part Number
inches)
PPE05 Long range Searching in 8 to 24 inch Side Banner
photo eye fast approach Adjustable to side QMT42VP6AFV400Q
Field
PPE06 Short range Aligning part .25 to 5 inch Side to side Same as PPE05
FORE photo side to side Adjustable
eye position Field
PPE07 Short range Aligning part .25 to 5 inch Side to side Same as PPE05
AFT photo eye side to side Adjustable
position Field
PPX01 FORE Puck part Searching in 50mm Up and down In Turck
present prox slow approach and out BI50U-Q80-AP6X2-
H1141
PPX02 AFT Puck part Searching in 50mm Up and down In

present prox slow approach and out Same PPX01
PPX08 Bottom part Part present 25mm In and out Square D
present prox 9007 FA1
PLS03 FORE V-block Part present 25mm Spring Up and down Square D 9007C54B2P10
part present and part up return
limit switch and down
alignment
PLS04 AFT V-block Part present 25mm Spring Up and down Same as PLS03
part present and part up return
limit switch and down
alignment
2.4.2 EOAT Gripping Device Requirements

When designing robot EOAT, the following factors shall be considered for the gripping devices:
1. Type of gripping devices: crowder (locating cylinders), grippers, clamps, or vacuum cups.
2. The opening distance of gripping devices should be wide enough to accommodate the
variation of part location in the rack, typically +/- ½ inch. Wider opening distances provide
more reliable gripping of the part.
3. Proximity switches should be located close to clamps and vacuum devices.
4. Clamps should be used to center and locate the part repeatably in the EAOT.
5. Optionally, vacuum cups can be used for holding heavy parts at the rear quarter.
6. V blocks should be used to engage the part in the vertical direction. The center of gravity of
the part should be located between the two V blocks since gravity is used to locate the part in
the vertical direction.
2.5 Rack Docking Station Requirements

When designing the rack docking station or indexer, the following factors shall be considered:

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1. Error proof the rack docking station or indexer for all different rack styles, including left/right
variation.
2. Provide a method for detecting an empty rack.
3. Provide a method for detecting rack retainer position (either Open or Closed) for manually
operated rack retainer.
4. Provide setup and adjustment capability for rack location repeatability.
5. If rack indexers are used, crowders should corner the rack in the unload position. Overunning
the chain in one direction has been proven unreliable and a rack present switch should be
installed if this method is used or the risk of crashing the EOAT is possible on rack entry.
6. Design “easy” rack drop-off locators. (For example, setting rack on high tolerance pins is not
“easy”.)
7. Design truck operator line-of-site feature to enable short load and unload time.
8. Design cell for easy truck turn radius and aisle clearances.
3 Rack Design Requirements
The bodyside racks can be in-process or shipping racks. Rack construction / dimensional variation shall
be examined and qualified. Large variations in part location within the rack or variation in the overall
dimensions of the rack could result in failure of the robotic unracking application.
The following factors shall be considered for the rack design:
1. Rack manufacturing tolerance:

• Typical variation shall not exceed +/- ¼ inch with respect to part location.
• Design, build, assembly, and dimensional verification specifications are required for a
fabrication vendor to build racks.
• Racks MUST be measured and statistical data assembled to verify part location
repeatability for initial production.
2. How parts are retained in the rack dunnage:

• Fixed part V detail dunnage should be designed and assembled to the rack to ensure
minimum part location variability.
• Consider the life of dunnage with rack use and design in durability as needed. Publish
/ document (engrave) the life of rack dunnage.
• Design transit part tie-downs and retainers for ease of manual engagement and
disengagement.

Version 1.0 Rack Design Requirements OVRS-3U1 Robot
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• Determine the proper spacing between the parts in the rack: it is critical that a picked
part can be cleared from the rack dunnage (2 inch vertical move) without crashing
any part of the rack or adjacent parts; Typically, the more curved the part, the larger
the spacing required between the parts.
• Consider complex part shapes and contours: Typically, the more complex, the more
difficult it is to clear the part from the rack. The sensor may not trigger reliably on the
complex contours and multiple parts may interlock together preventing a robot pick.
• Consider the part orientation in the rack: The part can be placed in nontraditional
orientations (such as upside-down or sideways) in such a way that the robot can easily
pick up the part and move clear of rack and dunnage without increasing the spacing
between the parts.
3. Style Identifier:
• Design rack style identification features for error proofing that differentiate the part
styles, including left/right hand variation.
o
o
Figure 3: Typical Rack for Bodyside Parts with Fixed V Dunnage
Figure 3 shows a typical rack for holding the bodyside parts. Parts hang on the two fixed V dunnage
details. Transit retainers are located at each side of the rack. They are manually operated and can be
locked in the closed or open positions.

Version 1.0 Rack Design Requirements OVRS-3U1 Robot
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Successful applications are critically dependent on location repeatability of the parts at their hanging
positions in the rack. For example, a part can be located at the third set of V slots from the front of
rack, as shown in Figure 3. The part location must be repeatable at this hanging position within proper
range of the robot EOAT sensors, typically within +/- ½ inch.
When designing rack dunnage, consider reducing the possibility that manually loaded parts can be
misloaded by hanging in non-corresponding V slots in the rack.
4 Robot Programming Requirements
The success of the unracking application is dependent on the robot programming technique, especially
during real-time searching of the part location in the rack. Thorough understanding of the robot EOAT
sensors and the part location variation is critical.
The following factors shall be considered for robot programming:
1. Robot search technique:

a. The search is tightly coupled with the type of search sensors used. Clearly define which
sensor serves what purpose.
• The search window is dependent on sensor(s) as well as the part variation at that
specific location. Avoid robot and part crashes under all variation conditions.
• Incorporate robot program functionality to use part search functions only when
the part is not detected.
• Design program code for the minimum robot program points (locations) to
minimize reprogramming time by maintenance personnel.
b. Teach robot position with a bias to engage most repeatable sensors first.
• Test all possible failure modes and operation capability.
• Incorporate fault/ error recovery options.
2. Fault recovery options:

a. Provide user fault/ error message on robot Teach Pendant.
b. Provide operator option to correct part orientation and retry the pick-up with remote cell
start.

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4.1 Robot I/O Mapping

The I/O map for this application differs slightly from the standard material handling I/O map specified
in RS-4 Section E: Material Handling Interface.
Table 2: Material Handling Input Block 1 / Robot EOAT Inputs

Robot Input Description Signal name Node address
Din425 Crowder cylinder 1 in B Position diCylinder1InB N34:I01
Din426 Crowder cylinder 1 in A Position diCylinder1InA N34:I02
Din427 Crowder cylinder 2 in B Position diCylinder2InB N34:I03
Din428 Crowder cylinder 2 in A Position diCylinder2InA N34:I04
Din429 Gripper cylinder 3 in B Position diCylinder3InB N34:I05
Din430 Gripper cylinder 3 in A Position diCylinder3InA N34:I06
Din431 Gripper cylinder 4 in B Position diCylinder4InB N34:I07
Din432 Gripper cylinder 4 in A Position diCylinder4InA N34:I08
Din433 Not used N34:I09
Din437 FORE Puck part present prox diPartPresent1 N34:I13
Din438 AFT Puck part present prox diPartPresent2 N34:I14
Din439 FORE V-block part present limit switch diPartPresent3 N34:I15
Din440 AFT V-block part present limit switch diPartPresent4 N34:I16
Table 3: Material Handling Input Block 2 / Robot EOAT Inputs
Robot Input Description Signal name Node address
Din441 Long range reflective photo eye diPartPresent5 N35:I01
Din443 FORE reflective photo eye diPartPresent7 N35:I03
Din445 AFT reflective photo eye diPartPresent9 N35:I05
Din447 Bottom part present prox diPartPresent11 N35:I07

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Table 4: Robot Gripping Device Outputs

Robot Output Description Signal name Node address
Dout425 Valve 1 to A Position/Vacuum 1 On doValve1ToA N33:O01
Dout426 Valve 1 to B Position/Vacuum 1 Blow Off doValve1ToB N33:O02
Dout433 Not used N33:O09
Dout434 Not used N33:O10
Dout435 (Reserved) (Reserved) N33:O11
If vacuum cups are used in conjunction with a vacuum pump, the I/O must be configured for the vacuum
at Channel 2 Node 36. Refer to RS-4 Section E, Section 4.5, Tables 5 and 6.
4.2 User Programs

The following files, which accompany this documentation, or their functional equivalent, shall be
installed:
1. Unracking part search and pick function

• S04pick1.tp
2. Error handling function

• Pick_flt.tp
4.3 Program Calling Structure

The style main TP program calls a style-specific unracking TP program in a simple material handling
(MH) application.
Example:
22: CALL S04PICK1 ;
In some cases, the style main TP program may call a decision-pick program, and the decision pick-
program may then call the style specific unracking TP program based on decision code, as illustrated
by Figure 4.

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Decision code example:
8: ! SELECT PATH TO RUN BASED ON DECISION CODE ; 9: !

10: R[151] = $SHELL_WRK.$CUR_DECSN ;
11: SELECT R[150] = 1,CALL S04PICK1 ;
12: = 2,CALL S04PICK2 ;
13: ELSE ,JMP LBL[90] ;
14: END ;
15: ;
16: LBL[90:INVALID DECISION] ;
17: UALM[2] ;
18: ;
Style Main Program
Fault
Style-specific Pick occurred Fault Recovery
Program macro
(s04pick1.tp) (pick_flt.tp)
Figure 4: Overall Program Flow
4.4 Frames
4.4.1 User Frame

The user frame is defined as
Z: In/Out of rack (perpendicular to the part plane)
X: Up/Down
Y: Fore/Aft

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Align the XY plane of the user frame with the part plane. Align positive Z with the search direction into
the rack as shown in Figure 5.
Figure 5: User Frame Definition
The slow-search window is defined in this user frame to rotate about the X-axis to engage the PUCK
proxes, or to shift in the +/-Y direction to engage the FORE and AFT photo eyes.
4.4.2 Tool Frames

Several tool frames must be defined: Each tool frame origin is located at a prox switch. These tool
frames are used during the fine search after the specific prox reads ON.
Figure 6 shows two tool frames in the example:

• User tool frame 2 is attached to the FORE puck prox.
• User tool frame 1 is attached to the AFT puck prox.

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Both tool frames are defined in the same manner: Z is into of the part, X is vertical pointing to the top
of the part, Y is horizontal pointing to the back of part.
Xu2 Xu1
Xu1
Yu2
Figure 6: Tool Frame Defined for a Prox
4.5 Register Usage
One register is used in the unracking application for fault recovery. Table 5 describes its usage.
Table 5: Register Usage

Register Usage Description Value Set by Value Used by
R[20: Error Counter] Error condition Pickup.tp Pick_fault.tp
R[20: Error Counter] Exit search flag Pick_fault.tp Pickup.tp
4.6 Position Register Usage

Two position registers are used in the unracking application as described in Table 6. One of the
position registers stores the rear position of the rack. This position is the pick position of last bodyside
part in the rack. The other position register is the active current robot position that is recorded several
times throughout the program. This position register is often modified by the program for the fine
search window.

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Table 6: Position Register Usage
Position Register Usage Description Set by Used by
PR[5: Rear Rack Pos.] Pick position of the last part Manual taught Pickup.tp
in the rack
PR[6:Modifier Pos.] Active current robot position Recorded in pickup Pickup.tp
often modified for fine program
search window
4.7 Teaching the Rack Entry Position

The rack entry position is the P[3:entry] position found in the example code below.
1. Using the USER coordinate system, jog the robot toward the part nested in slot 1.
2. With the part properly positioned, line up the EOAT. Reorient if necessary to have DI [437:Fore
Puck], DI [438:Aft Puck], and DI [441:LongRangePhoto] all ON.
3. The V groove locators must now be centered to the door opening.
4. Align the robot fore/aft. Jog the robot in the + or – Y direction, and look for DI [443:Fore Photo
Eye], and DI [445:Aft Photo Eye] to be ON.
5. Finally, jog the robot to just outside of the rack and record this position, as P[X:Rack Entry].
Use only the -Z direction to ensure the alignment does not change.
4.8 Teaching the Rack Rear Position

The rack rear position is stored in the position register PR [5:Rear Rack Pos]. It can be found on the
position register page in the robot (Data/Type/Pos Registers).
Using the USER coordinate system, jog the robot toward the part nested in the final slot. Follow steps 1-
4 for teaching the entry position and record the rear position.
4.9 Robot Fast and Slow Search Method

The robot search is closely related to the EOAT sensors and their designated usage. Extensive search
distances will result in additional cycle time.
The robot search is divided into the following three sections:

1. Fast approach: utilize fast approach photo-eye sensor so that robot can move quickly to the
part and has enough time to slow down without running into the part.
2. Slow approach, alignment with part plane: use two or three prox sensors for angular
adjustment to the part plane
3. Slow approach, alignment with part XY location: use two photo eye sensors to adjust XY
position with the part plane once the part plane is aligned with the robot EOAT.
During the slow search, the robot will rotate or shift its position to engage the specific sensor that is
OFF. A search window should be established for the specific rotation or shift movement. The correct
tool frame is used such that the robot can rotate or shift without moving away from the sensor that is
already ON.

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4.10 Error Recovery Options

Pick_flt.tp provides error recovery options for the user.
When a fault occurs the robot screen will post the fault, as well as the options available for recovery.
The desired option is selected by using the user push buttons on the Fanuc RJ3 controller.
• User PB #1 will have the robot recover and continue with its search. Each switch flags a specific
fault, and the options will be posted depending on the fault that occurs. For example, error
condition 6 where the part has been lifted but the V block limit switches are faulted, only one
option is given.
• User PB #2 will return the robot to the Rack Entry point and await further instructions.
Once at the Entry point, the user has the option to retry the pick or move to home.
o User1 – retry from the very beginning o
User2 – return home
NOTE: In order for the proper messages to be displayed on the teach pendant the Force Message
option must be enabled. This option is found on the system configuration page
(MENUS/0/6/TYPE/CONFIG), option 27.
4.11 ProcessFault Handling

ProcessFault (DO[28:Process1Fault]) is set OFF by the Pick_flt.tp macro when the operator chooses to
abort the unracking process.
DO[27] is set ON by either S04pick1.tp or pick_flt.tp when attention is required for the operator to
check for sensor faults. Once the sensor faults are cleared and remote start is initiated, DO[27] is set
back to OFF to continue the normal unracking sequence.
4.12 Robot Search Flow Chart
The most reliable search strategy is to engage the sensor(s) to the body part with the least location
variation first. Teach the robot position (including orientation) with this bias so that these sensor(s) will
always be engaged first. In the example provided with this document, the Fore and Aft PUCK proxes
are used.

Bodyside Unracking
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Bodyside Unracking
Specification.pdf
OV ME Strategy

Bodyside Unracking
Specification.pdf
OV ME Strategy

Bodyside Unracking
Specification.pdf
OV ME Strategy

Bodyside Unracking
Specification.pdf
OV ME Strategy

Bodyside Unracking
Specification.pdf

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August 2019 Robot Bodyside Unracking Specification 1 of 22

2 PROCESSING AND DESIGN REQUIREMENTS ..................................................................... 3

3 RACK DESIGN REQUIREMENTS ............................................................................................ 8

4 ROBOT PROGRAMMING REQUIREMENTS........................................................................ 10

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1.3 Normative References

2 Processing and Design Requirements

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2.2 Process Layout Description

2.3 Simulation Requirements

• Robot arm length required to reach all parts in the rack.

2.4 EOAT Design Requirements

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Figure 1: Robot EOAT with Gripped Part

EOAT sensors include:

EOAT gripping devices include:

1. [C01] FORE crowder

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Figure 2: EOAT Sensor Location During Search

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Table 1: EOAT Sensor Requirements

PPX02 AFT Puck part Searching in 50mm Up and down In

2.4.2 EOAT Gripping Device Requirements

2.5 Rack Docking Station Requirements

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3 Rack Design Requirements

The following factors shall be considered for the rack design:

1. Rack manufacturing tolerance:

2. How parts are retained in the rack dunnage:

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Figure 3: Typical Rack for Bodyside Parts with Fixed V Dunnage

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4 Robot Programming Requirements

The following factors shall be considered for robot programming:

1. Robot search technique:

2. Fault recovery options:

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4.1 Robot I/O Mapping

Table 2: Material Handling Input Block 1 / Robot EOAT Inputs

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Table 4: Robot Gripping Device Outputs

4.2 User Programs

1. Unracking part search and pick function

2. Error handling function

4.3 Program Calling Structure

22: CALL S04PICK1 ;

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Decision code example:

8: ! SELECT PATH TO RUN BASED ON DECISION CODE ; 9: !

Style Main Program

Figure 4: Overall Program Flow

4.4.1 User Frame

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Figure 5: User Frame Definition

4.4.2 Tool Frames

Figure 6 shows two tool frames in the example:

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Figure 6: Tool Frame Defined for a Prox

4.5 Register Usage

Table 5: Register Usage