ABB PickMaster Twin - PowerPac Applications Manual page 393

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Program modules
The default RAPID program contains three program modules.
Module
PPAMAIN
PPASERVICE
PPAEXECUTING
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
Description
Last position in the pick sequence.
The distance above the pick target is calculated in the same way as the approach
position.
The position is coordinated to the conveyor until the middle of the corner path.
Therefore the used item target must be acknowledged, so the item source can start
tracking the next item target in the pick work area buffer. The target cannot be a fine
point.
Approach position above the place target.
The distance above the place target is the pick or place elevation value, in negative
z-direction of the tool, given in the Work Area Properties dialog.
This is the place target.
The robot TCP is coordinated relative to the conveyor during the place. The moment
for the vacuum reversion event is calculated as the time before the half place time.
The vacuum off moment is calculated as a time after the half place time.
Last position of the sequence.
The position is coordinated to the conveyor until the TCP passes the middle of the
corner path or goes into the fine point. Therefore the used item target must be acknow-
ledged, so the item source can start tracking the next item target in the pick work area
buffer. The target cannot be a fine point.
Note
When running a pick and place cycle over moving conveyors, the RAPID program
pointer runs in advance and picks out a target long before it is going to be used.
By the time the robot uses the target it may already have moved past the exit
limit. RAPID moves the program pointer in advance about 100ms. In a coordinated
fine point the "running in advance" is triggered at the beginning of the fine point
movement as the robot locks above the conveyor. If the PickTime is long (for
example, 50ms) the next target will be taken out of the queue long before (50ms)
the robot is physically going to go there. If the conveyor speed is high 50ms may
mean that the target to pick is already beyond the exit limit. Still the robot will try
to pick it.
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Description
Handles the main program initiations and execution sequence.
Do not edit this module for customization purpose.
Contains the service routines and service variables that can
be executed and set from PickMaster.
Handles the pick and place operations. Customize this module
for your purposes.
6 RAPID reference
6.4.1 RAPID programs
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