ABB PickMaster Twin - PowerPac Applications Manual page 129

All positions for a specific item type are distributed to the robots by a single item
distributor. There are four types of item distributors.
To use either load balancing or ATC the work areas must be arranged in the order
that they occur after the position source (for example: the camera or sensor).
The work area that triggers the position source is set automatically. When starting
a production, the work area for the robot that is first up and running is set to be
the trigger work area. If the robot for a trigger work area is stopped, a work area
for another robot that is running will be the one that triggers the position source.
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
• Work area: The item positions are handled by a single conveyor or indexed
work area.
• ByPass: The item positions are discarded, that is not handled by any work
area. If no distributor is selected for an item type it will be considered as
ByPass.
• LB group: The item positions are handled by the work areas included in a
load balance group. Aload balance group is a collection of Work area, ByPass,
and ATC group distributors. Item positions will be distributed among the
work areas in an optimal way to avoid sending two adjacent positions to the
same work area.
• ATC group: Positions are handled by the work areas included in an Adaptive
Task Completion (ATC) group. An ATC group is a collection of ordered work
areas that will get the same item positions. The first robot accesses as many
positions as possible. The other robots in the ATC group will access any
missed positions. If the last work area in the group is a conveyor work area
with start and stop it is guaranteed that all positions will be accessed.
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.2.9 Adding Recipe
Continued
Continues on next page
129