CALL transfer args[], error)
args[ ] Real array containing the arguments for this statement. The individual elements are described below:
APPROACH path
[1] Optional Path database record number that specifies the path to use when approaching the part feeder. The value of this element must be 0 if no path is specified.PART part
[2] Part database record number, specifying which part is to be transferred.ALONG path
[3] Optional Path database record number, specifying the path to follow when moving from the part feeder to the assembly location. The value of this element must be 0 if no path is specified.TO assembly
[4] Assembly database record number, specifying where the part is to be placed. This record is found in the current Assembly database that is associated with the current sequence.DEPART path
[5] Optional Path database record number, specifying the path to follow when departing from the assembly location if the transfer succeeded. The value of this element must be 0 if no path is specified.USING tool
[6] Optional Tool database record number, specifying the tool to use when performing this transfer operation, if the tool specified in the Part Type database is not desired. The value of this element must be 0 if the tool specified in the Part Type database is to be used.REJECT path
[7] Optional Path database record number, specifying the path to follow when departing from the assembly location if the transfer failed and the part being transferred should be rejected. The value of this element must be 0 if no path is specified.error Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine. See the standard AIM operator error response code values.
as.db[TASK( )] Real array containing the number of the current Assembly database.
This statement routine performs a simple transfer operation with no vision. The exact series of robot motions is determined by the strategy routines and data values specified in the various arguments.
The sequence of operations performed by this statement is as follows (the relevant portion of the statement syntax is shown for each step):
1. If the optional tool transformation is specified, apply that tool to describe the current robot gripper. ({USING tool})
2. If the optional approach path is specified, move along that path to the feeder locations. ({APPROACH path})
3. Select a feeder and pick up a part by executing the part-acquisition strategy routine rn.acquire( ). (PART part)
4. If the optional transit path is specified, move along that path to the assembly location. ({ALONG path})
5. Insert the part into the assembly by executing the part-insertion strategy routine rn.insert( ). (TO assembly)
6. If the insertion fails and the optional reject path is specified, follow the reject path and discard the bad part. ({REJECT path})
(If the insertion fails and the optional reject path is not specified, AIM stops processing the sequence and sends an error message to the operator.)
7. If the optional departure path is specified, depart from the assembly area along that path. ({DEPART path})
The following items should be observed when defining data for the TRANSFER statement:
1. A part type and at least one feeder must be assigned to the Part database.
2. All location data must be taught with the proper tool transformation in place.
3. The reference frames specified for the Feeder and Assembly databases depend upon the strategy routines being used. For example, the acquire strategy routine rn.ac.pallet( ) requires that the feeder locations be defined with respect to a named reference frame. Check the documentation on the individual strategy routines for details.
For more details, see the descriptions of the routines rn.acquire( ) and rn.insert( ) in Primitive and Strategy Routines.
transfer.fp args[], error)
rn.acquire (part, path, to.opr[], error)
rn.insert (app.path, dep.path, rej.path, to.opr[ ], error)TRANSFER.FP {APPROACH path} PART part {{APPROACH path} {REFINE vision{AND vision}} {REJECT path}} {ALONG path} {LOCATE vision} TO board {DEPART path} {USING tool} {REJECT path} {OK_SIGNAL variable}Statement routine for TRANSFER.FP (the fine-placement transfer statement). It can use vision to refine the part-in-hand position and to locate the assembly location.