ABB PickMaster Twin - PowerPac Applications Manual page 348

5 Production examples
5.3 Example: Mixing one pick work area and two place work areas
Continued
Adding the recipe
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Action
On the ribbon-tab, click Recipe under
Recipe.
Click on the Available Devices to open
the setting window for the recipe.
Click the Import in the Robot1 under
Robot Setting to choose the rapid.
Click the Browser in the Rapid Editor
under Robot Setting to choose the editor.
Click the Edit button in the Rapid Editor
under Robot Setting and change the file.
Tip
Replace the old code:
PROC PickPlaceSeq()
Pick PickWorkArea{1};
! Pick PickWorkArea{2};
Place PlaceWorkArea{1};
! Place PlaceWorkArea{2};
ENDPROC
with the new code:
PROC PickPlaceSeq()
Pick PickWorkArea{1};
IF PickTarget.Type = 1 THEN
Place PlaceWorkArea{1};
ELSEIF PickTarget.Type = 2 THEN
Place PlaceWorkArea{2};
ENDIF
ENDPROC
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Note/Illustration
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B