ABB PickMaster Twin - PowerPac Applications Manual page 408

6 RAPID reference
6.5.4 Example: Double pick single place
Continued
The tooldata PickAct1 is used at the first pick. The tooldata PickAct2 is used
at the second pick. Update PickAct1 and PickAct2 (defined in module
ppaUser.sys): Define the tool center point in the center of the controlled vacuum
ejector. Update also the weight and the center of mass. Save the updates of the
RAPID program, close the editor, and apply the updates.
For the Place routine see the following example. Note the usage of VacuumOff1
and VacuumOff2 for the simultaneous placing of both held items.
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408
MaxSpeed,ItmSrcData{Index}.VacuumAct1,z20,
PickAct1\WObj:=WObjPick;
TriggL\Conc,PickTarget.RobTgt,LowSpeed,ItmSrcData{Index}.SimAttach1,
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;
ELSEIF pickNo = 2 THEN
TriggL\Conc,RelTool(PickTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),
MaxSpeed,ItmSrcData{Index}.VacuumAct2,
z20,PickAct2\WObj:=WObjPick;
TriggL\Conc,PickTarget.RobTgt,LowSpeed,ItmSrcData{Index}.SimAttach2,
z5\Inpos:=ItmSrcData{Index}.TrackPoint,
PickAct2\WObj:=WObjPick;
GripLoad ItemLoad;
TriggL
RelTool(PickTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),
LowSpeed,ItmSrcData{Index}.Ack,z20,
PickAct2\WObj:=WObjPick;
ENDIF
ELSE
ErrWrite "Missing item distribution", "Cannot pick because no
item distribution contains current work area."
\RL2:="Please check configuration";
SafeStop;
ENDIF
ENDPROC
!***********************************************************
!
! Procedure Place
!
! Executes a place movement.
! Edit this routine to modify how the robot shall
! execute the place movements.
! Needs to be changed if more than one activator is used.
!
!***********************************************************
PROC Place(num Index)
IF Index > 0 THEN
WObjPlace:=ItmSrcData{Index}.Wobj;
GetItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget;
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B