ABB MultiMove - Coordinated Work Objects

6 Programming
6.3. Coordinated work objects
593HAC021272-001 Revision: H
© Copyright 2004-2008 ABB. All rights reserved.
6.3. Coordinated work objects
About work objects
This section will only describe how to make a work object coordinated with a mechanical
unit. For a detailed description of work objects, see wobjdata - Work object data in Technical
reference manual - RAPID Instructions, Functions and Data types.
What determines coordination?
When declaring a work object, the second attribute (
ufprog) and the third attribute (ufmec)
determine if the work object is coordinated to any mechanical unit.
robhold
robhold defines if the work object is held by the robot in this task.
robhold is normally set to FALSE. The task of the robot that holds the work object (where
robhold would be set to TRUE) does not have to declare it unless a stationary tool is used.
ufprog
If the work object is stationary,
ufprog is set to TRUE.
If the work object can be moved by any mechanical unit,
ufprog is set to FALSE.
ufmec
ufmec is set to the name of the mechanical unit that moves the work object.
If
ufprog is set to TRUE, ufmec can be left as an empty string (no mechanical unit can move
the work object).
Example
This is an example of a work object that can be moved by a mechanical unit with the name
STN_1:
PERS wobjdata wobj_stn1 :=
[ FALSE, FALSE, "STN_1",
[ [0, 0, 0], [1, 0, 0 ,0] ],
[ [0, 0, 250], [1, 0, 0, 0] ] ];