ABB PickMaster Twin - PowerPac Applications Manual page 401

PROC PowerOnEvent()
Resets some variables. This routine is executed only in the POWER_ON system
event shelf.
PROC StopEvent()
Clears the robot path if the robot is in a coordinated motion when the stop occurs.
This routine is only executed in the STOP system event shelf.
PROC RestartEvent()
This routine is only executed in the RESTART system event shelf. If the robot is
currently in a coordinated motion, this routine will force the program to restart the
program from the level that has an error handler for the raised error PPA_RESTART.
PROC NewSource()
Creates a new item source and initiates the ItmSrcData variable. PickMaster calls
this routine for each work area when the project starts.
PROC ClearAll()
Resets all important variables and deletes all item sources. This routine is called
when the project is stopped.
PROC PickRateInit()
Initiates the pick rate calculation.
PROC PickRateReset()
Resets the pick rate calculation.
PROC CheckAx4Rev ()
Checks if it is necessary to reset the fourth axis on the IRB340.
PROC ResetAx4 (VAR mecunit MechUnit)
Resets the fourth axis.
PROC NotifyClearAll ()
Tells PickMaster that ClearAll is executed.
PROC NotifySafeStop ()
Tells PickMaster that SafeStop is executed.
PROC NotifyRunning ()
Tells PickMaster that the process is running.
PROC NotifyWaitForExe ()
Tells PickMaster that the RAPID program is waiting for new order.
PROC WaitForExeOrder ()
PROC IncrPicks ()
Increments the pick calculation.
PROC ppaDropWobj(PERS wobjdata Wobj)
Encapsulates the DropWobj instruction. See Application manual - Conveyor tracking
for more information
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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