ABB PickMaster Twin - PowerPac Applications Manual page 392

6 RAPID reference
6.4.1 RAPID programs
Continued
If there are more than one pick work area with a robot, it uses the one having the
lowest configured work area index. If there are more than one place work area with
a robot, it uses the one having the lowest configured work area index. The RAPID
program can be modified to implement another sequence, for example, to double
pick with single place.
Program execution – Work areas
In RAPID, a work area is always associated with an item source object. The item
source is sometimes referred to as a queue. The item source holds all target
positions related to this work area. Target positions are continuously received in
the item source, while being detected with the associated flow handler sensor.
Program execution – Target positions
For each pick, a pick target is fetched from the pick item source. The target position
gives the location of the next item to be picked.
For each place, a place target is fetched from the place item source. The target
position gives the location of the next empty place location for the item to be placed.
Movements
The RAPID program is built with six different movements.
For a six axis robot, the following two intermediate points must be used:
xx0800000326
The following six movements are included.
1
2
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• Between position 3 and position 4.
• Between position 6 and the next loop's position 1.
Description
Approach position above the pick target.
The distance above the pick target is the pick elevation value, in negative z-direction
of the tool, given in the Work Area Properties dialog in the job dialog. The target is
of corner path type and the vacuum activation occasion is calculated as the time before
the middle of the corner path. The time is entered in the Work Area Properties dialog.
This is the pick target.
The robot TCP is coordinated relative to the conveyor during the pick time entered in
the Work Area Properties dialog. The TCP follows the pick target during the pick time.
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B