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4 Working with PickMaster PowerPac
4.2.9 Adding Recipe
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Pick Setting
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Description
Pick/place elevation is the distance, in negative z-direction re-
lative to the tool, from where the robot approaches the item
target.
Pick/place time is the time the robot is in the pick/place position.
If the conveyor is moving during the pick/place time, the robot
will track along the conveyor to keep the relative position on
the moving conveyor.
Vacuum activation is the time in seconds before the middle of
the corner path of the approaching position, when the vacuum
I/O should be set. If a negative value is entered, the vacuum
I/O will be set the time after the middle of the corner path. This
value is only valid for work areas of type Pick or Other.
Note
Vacuum activation does not affect the picking of items in simu-
lation. Items are attached to the picking tool using SimAttach
events, for example, in the Pick Routine.
Vacuum reversion is the time in seconds before the half place
time in the place position, when the blow I/O should be set. If
a negative value is entered, the blow I/O will be set the time
after the half place time in the place position. This value is only
valid for work areas of type Place or Other.
Note
Vacuum reversion does not affect the placing of items in simu-
lation. Items are detached from the picking tool using
SimDetach events, for example, in the Place Routine.
Vacuum off is the time in seconds after the half place time in
the place position, when the blow I/O should be reset. If a neg-
ative value is entered, the blow I/O will be reset the time before
the half place time in the place position. This value is only valid
for work areas of type Place or Other.
Note
Vacuum Off does not affect the placing of items in simulation.
Items are detached from the picking tool using SimDetach
events, for example, in the Place Routine.
Application manual - PickMaster® Twin - PowerPac
© Copyright 2021 ABB. All rights reserved.
3HAC064218-001 Revision: B
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Troubleshooting
