ABB PickMaster Twin - PowerPac Applications Manual page 165

Description
Conveyor-
LowerLimit
Note
To enable this function, you need to select the checkbox for this function in the recipe configuration
page.
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Note
The UpperLimit/LowerLimit function in the Tunning window has a slight delay.
LowerLimit is the limit form where robot starts to execute item targets on the work area in Start Y.
The distance is calculated in milli-meters from the center of the robot. The range is positive if the
limit is beyond the center of the robot, relative to the moving vertical direction of the conveyor.If
the y coordinate value of the item's position is greater than the UpperLimit, the robot will not grab
the item. So when the tracked item passes beyond this limit it will be dropped. This limit must be
chosen well within the maximum reach of the robot.
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
4 Working with PickMaster PowerPac
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4.2.12 Simulation
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