Routines - ABB PickMaster Twin - PowerPac Applications Manual

6.4.3 Routines

Introduction to routines
The PickMaster RAPID modules contain many routines, some are very useful for
the end user, others are only to be used internally by the PickMaster program.
Public routines in PickMaster template programs
The following public routines are available in the PickMaster template programs.
PROC main()
Start routine for the RAPID program. The program will always start from this routine.
PROC InitSafeStop()
Initiates the SafeStop trap. It must be executed at the beginning of the program
execution to get a correct robot stop when the PickMaster project is paused or
stopped.
PROC InitTriggs()
Sets trigger events for the vacuum activation, reversion and turning off, at the
project start for every used work area index. See more at SetTriggs.
PROC InitPickTune()
Initiates the PickTune trap. Must be executed at the beginning of the project start
so the work areas can be tuned.
PROC SetTriggs(num Index)
Sets trigger events for the vacuum activation, reversion and turning off. The default
program only sets up events for one vacuum ejector on the I/O group goVacBlow1.
If more than one vacuum ejector is used, the new vacuum ejector I/O group must
be setup for the correct work area and the default routine must be edited to get
the right vacuum ejector to each work area.
PROC InitSpeed()
Sets the robot speed used in the program. The instruction VelSet is executed in
this routine, which sets the maximum allowed speed for the robot. If a six axes
robot is used, this limit can be tuned to avoid motion errors.
PROC PickPlace()
Starts the item queues and initiates the final settings. The pick and place sequence
is called from this routine. Do not make changes in this routine.
This routine is called when the pick and place execution is started.
PROC SafeStop()
When the project is stopped or paused this routine will be called either from the
SafeStopTrap routine or the PickPlace routine. The slow motion to the safe
position is called from this routine.
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.4.3 Routines
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