Example: Mixing With One Pick And One Place Work Area - ABB PickMaster Twin - PowerPac Applications Manual

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6.5.3 Example: Mixing with one pick and one place work area

6.5.3 Example: Mixing with one pick and one place work area
Description of example
In this example we use the place work area as master to decide which item is
needed to fill a pattern, which in turn defines which item to pick.
Example code
406
1 Check next item target type
2 Pick item from pick work area
3 Place on out work area
Note
It's recommended to use the Use Start/Stop in the Available Workareas setting.
PROC Pick(num Index)
VAR num PickType:=0;
VAR num PlaceType:=0;
WObjPick:=ItmSrcData{Index}.Wobj;
NextItmTgtType
ItmSrcData{PlaceWorkArea{1}}.ItemSource,PlaceType;
TEST PlaceType
CASE 4:
PickType:=1;
CASE 5:
PickType:=2;
CASE 6:
PickType:=3;
ENDTEST
GetItmTgt ItmSrcData{Index}.ItemSource, PickTarget
\ItemType:=PickType;
TriggL \Conc, RelTool(PickTarget.RobTgt, 0, 0,
-ItmSrcData{Index}.OffsZ), MaxSpeed,
ItmSrcData{Index}.VacuumAct1, z20, PickAct1 \WObj:=WObjPick;
MoveL \Conc, PickTarget.RobTgt, LowSpeed, z5 \Inpos:=
ItmSrcData{Index}.TrackPoint, PickAct1 \WObj:=WObjPick;
GripLoad ItemLoad;
TriggL RelTool(PickTarget.RobTgt, 0, 0, -ItmSrcData{Index}.OffsZ),
LowSpeed, ItmSrcData{Index}.Ack, z20, PickAct1
\WObj:=WObjPick;
ENDPROC
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B