ABB PickMaster Twin - PowerPac Applications Manual page 166

4 Working with PickMaster PowerPac
4.2.12 Simulation
Continued
Description
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Pick/placeElev- Pick/place elevation is the distance, in negative z-direction relative to the tool, from where the robot
ation approaches the item target.
Pick/place- Pick/place time is the time the robot is in the pick/place position. If the conveyor is moving during
Time the pick/place time, the robot will track along the conveyor to keep the relative position on the
moving conveyor.
VacuumActiva- Vacuum activation is the time in seconds before the middle of the corner path of the approaching
tion 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 simulation. Items are attached to the
picking tool using SimAttach events, for example, in the Pick Routine.
VacuumRever- Vacuum reversion is the time in seconds before the half place time in the place position, when
sion 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 simulation. Items are detached from the
picking tool using SimDetach events, for example, in the Place Routine.
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Camera and Baseframe origin
Camera
Enter
Start
Stop
Exit
Robot
Image frame
Center of Robot
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B