Variables - ABB PickMaster Twin - PowerPac Applications Manual

6 RAPID reference

6.4.2 Variables

6.4.2 Variables
Introduction to variables
The PickMaster robot controller contains many RAPID variables. The variables are
declared in both ppaBase and ppaUser. Many are not used in customized
programs.
Public variables in ppaUser
Overview
The following variables in ppaUser can be used.
VAR sourcedata ItmSrcData{MaxNoSources}
This array variable keeps information about all work areas. The index given in the
work area configuration is the index of the ItmSrcData array.
PERS noncnvwobjdata NonCnvWOData{MaxNoSources}:=[[...
This array variable stores the work object frames for the indexed work areas. The
key to find a certain work object calibration is the name, that must be same as the
name in the work area configuration.
TASK PERS tooldata PickAct1:=[...]
This tooldata is used for pick and place operations.
In an installation with a hanging IRB 360 and items lying on a horizontal conveyor,
the tool's z-direction will point out from the nose and down into the conveyor, like
tool0.
Public variables in ppaBase
The following variables in ppaBase can be used.
TASK PERS num Vtcp:=1000
Used for speed adjustment from PickMaster.
TASK PERS speeddata MaxSpeed:=[...]
Highest speed used for movements.
TASK PERS speeddata LowSpeed:=[...]
Low speed used for movements.
TASK PERS speeddata VeryLowSpeed:=[...]
Lowest speed used for movements.
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Note
The direction of tool must fit the direction of items that are retrieved from the
queue. The target positions of the items, which are retrieved from the queue, are
rotated 180 degrees around their x-axis from the defined direction.
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B