18.2 I/O overview and troubleshooting
The EUROMAP 67 program template is prepared for performing simple interaction with an
IMM. By specifying only a few waypoints, and a pair of I/O actions, the robot is ready for
handling the objects made by the IMM. The waypoints are:
• WP home position: The robot starting point for the procedure.
• WP wait for item: The waypoint where the robot will be placed while waiting for an item
to be ready from the IMM.
• WP take item: The waypoint where the robot will take the item from (inside) the IMM.
• WP drop item: The waypoint where the robot will drop the item just fetched from the
IMM.
The two Action nodes are intended for controlling a tool capable of grabbing and holding the
items from the IMM, and then releasing and dropping them when moved outside the IMM.
Now, the procedure will cycle through the steps, continously removing newly constructed items
from the IMM. Obviously, the Loop node should be customized such that the robot will only run
this cycle as long as there are items to take. Also, by customizing the MoveJ node, the robot
movement speed should be adjusted to fit the IMM cycle time, and, if necessary, the level of
fragility of the items. Finally, each EUROMAP 67 structure is customizable to suit the specific
IMM procedure.
18.2 I/O overview and troubleshooting
The EUROMAP 67 I/O overview is found under the I/O tab.
e-Series III-10 Version 3.11
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