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 wait-
ing 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 con-
structed 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.
CB3 III-12 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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