Rapid Program; Rapid Programs - ABB PickMaster Twin - PowerPac Applications Manual

6.4 RAPID program

6.4.1 RAPID programs

Introduction
Overview
Each robot has a default RAPID program that can be edited using a normal text
editor from the robot settings of the job dialog. When a job is started, the program
is downloaded by PickMaster in the picking controller. The program contains the
Main routine where the program execution starts.
The installation contains the following program template files:
Template
PMppa360_IRC5.prg
PMppa360_IRC5_MM2.prg
PMppa360_IRC5_DoublePick.prg
PMppa360_IRC5_6_02.prg
PMppa360_IRC5_6_02_DoublePick.prg
PMppa_6Axes_IRC5.prg
PMppa_6Axes_IRC5_6_02.prg
Template
PMppa360_OmniCore
PMppa360_OmniCore_DoublePick
PMppa_6Axes_OmniCore
Program execution - General
The RAPID program is loaded and started from the Main routine by PickMaster
when a new job is started.
For every cycle, the default RAPID program performs:
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
Note
Due to the download procedure, this program cannot be modified directly on the
robot system.
• a pick on a pick work area.
• a place on a place work area.
© Copyright 2021 ABB. All rights reserved.
Customized for
Four axes FlexPicker IRB 360.
Four axes FlexPicker IRB 360. To be used for a second
multi move robot.
Four axes FlexPicker IRB 360. Adapted for double
pick, single place.
Four axes FlexPicker IRB 360. To be used with Robot-
Ware 6.02.
Four axes FlexPicker IRB 360. Adapted for double
pick, single place. To be used with RobotWare 6.02.
Six axes robots of articulated arm type, for example,
IRB 120.
Six axes robots of articulated arm type, for example,
IRB 120. To be used with RobotWare 6.09.
Customized for
Four axes FlexPicker IRB 360.
Four axes FlexPicker IRB 360. Adapted for double
pick, single place.
Six axes robots of articulated arm type, for example,
IRB 120.
6 RAPID reference
6.4.1 RAPID programs
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