ABB PickMaster Twin - PowerPac Applications Manual page 400

6 RAPID reference
6.4.3 Routines
Continued
PROC GotoRestartPos()
Runs the slow motion to the safe position and sends a negative acknowledge to
all item sources. This must be done to tell the sources that the execution was
interrupted.
PROC Home()
Service routine that moves the robot to the safe position.
PROC WashDown()
Wash down service routine.
PROC TestCycle()
Test service routine.
PROC Homepos()
Service routine that moves the robot to the synchronization position.
PROC EnumerateWorkAreas()
Sets up the arrays of work areas for Pick, Place, and Other.
PROC PickPlaceSeq()
Specifies the sequence of the application, that is the logic of how the robot will
pick and place from different queues.
This routine is called once every loop, which is counted as one pick in the pick
rate statistics shown in the PickMaster production tab.
PROC Pick(num Index)
Executes one pick. The index defines which work area the item will be picked from.
PROC Place(num Index)
Executes one place. The given index defines which work area the item will be
placed on.
PROC GoInterMidP(robtarget Pos)
Executes a motion to the intermediate position Pos (Used only for six axes robots).
TRAP SafeStopTrap
Trap routine to catch the stop I/O signal. This is executed if the stop I/O signal is
set before SafeStop is called from the PickPlace routine.
TRAP PickTuneTrap
Trap routine to attach the tuned values from the PickMaster to the corresponding
variables.
Hidden routines in ppaBase module
Overview
Following are the hidden routines in the ppaBase module.
PROC ResetEvent()
Resets some variables. This routine is only executed in the RESET system event
shelf.
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400 Application manual - PickMaster® Twin - PowerPac
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3HAC064218-001 Revision: B