ABB PickMaster Twin - PowerPac Applications Manual page 395

Name
VacActDelay
VacRevDelay
VacOffDelay
TunePos
TrackPoint
OffsZ
noncnvwobjdata
The noncnvwobjdata is used in the persistent variable array NonCnvWOData. This
is only used for indexed work areas. The work object data is stored in this array.
This data is then used when the item sources are created.
The record can be extended for other purposes, but do not change or delete any
component in the structure.
Name
Used
NonCnvWobjName
Wobj
AlwaysClearPath
Clear path
The robot path is cleared before the restart when a stop occurs during a motion
that is coordinated to a moving work object. Otherwise the coordinated motion
continues the stored path, but the position of the object in the conveyor may have
changed to a position that is out of reach by the robot.
Unconditional path clearing
The AlwaysClearPath (bool always) routine unconditionally clears the path before
the restart, if the input parameter value is set to TRUE.
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
Alias Description
Vacuum activation delay
num
Vacuum reversion delay
num
Vacuum off delay
num
Position tuning for the work area.
pos
Follow time data.
stoppointdata
Height for the offset point above the pick or place posi-
num
tion.
Alias
bool
string
wobjdata
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6 RAPID reference
6.4.1 RAPID programs
Description
Flag to indicate that the array index is used.
Name of the work area.
The stored work object data.
Continued
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