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Public variables in PickMaster template programs
The following public variables are used in the PickMaster template program.
VAR num PickWorkArea{X}:=0
The PickWorkArea array is used to specify from which work area the robot will pick
an item. The pick work areas are ordered with respect to selection index.
PickWorkArea{1} has the lowest work area selection index.
PickWorkArea{2} has the second lowest selection index.
VAR num PlaceWorkArea{X}:=0
The PlaceWorkArea array is used to specify on which work area the robot will place
an item. The place work areas are ordered with respect to selection index.
PlaceWorkArea{1} has the lowest work area selection index.
PlaceWorkArea{2} has the second lowest selection index.
VAR num OtherWorkArea{X}:=0
The OtherWorkArea array is used to specify to which work area the robot will go
for a user defined purpose. The other work areas are ordered with respect to
selection index.
OtherWorkArea{1} has the lowest work area selection index.
OtherWorkArea{2} has the second lowest selection index.
VAR itmtgt PickTarget:=[...]
Used to retrieve a pick target from a pick item source.
VAR itmtgt PlaceTarget:=[...]
Used to retrieve a place target from a place item source.
TASK PERS wobjdata WObjPick:=[...]
Holds the wobjdata for the work area. The information is moved from ItmSrcData
to WObjPick in the Pick routine because the motion instructions need to have the
wobjdata as PERS type.
TASK PERS wobjdata WObjPlace:=[...]
Holds the wobjdata for the work area. The information is moved from ItmSrcData
to WObjPlace in the Place routine because the motion instructions need to have
the wobjdata as PERS type.
TASK PERS robtarget SafePos:=[...]
Defined start position for the robot. Edit this robtarget to fit the application.
TASK PERS robtarget IntPosPickX:=[...]
Defined intermediate position for every pick work area robot. Edit this robtarget to
fit each work area.
TASK PERS robtarget IntPosPlaceX:=[...]
Defined intermediate position for every place work area robot. Edit this robtarget
to fit each work area.
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.4.2 Variables
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