ABB PickMaster Twin - PowerPac Applications Manual page 402

6 RAPID reference
6.4.3 Routines
Continued
PROC ppaWaitWobj(PERS wobjdata Wobj, \num RelDist \num MaxTime \bool TimeFlag)
Encapsulates the WaitWobj instruction. See Application manual - Conveyor tracking
for more information
PROC ppaCnvGenInstr(VAR mecunit MechUnit, num cnvcmd, cnvgendata Data)
Encapsulates the CnvGenInstr instruction. See Application manual - Conveyor
tracking for more information
PROC WalkTheData()
Traces the content of the array variables ItmSrcData and NonCnvWOData, which
can be useful when trying to find an error. It prints the file TheData.log on the
system directory on the controller.
TRAP PickRateTrap
Trap routine to calculate the correct pick rate for the robot.
402 Application manual - PickMaster® Twin - PowerPac
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