ABB PickMaster Twin - PowerPac Applications Manual page 409

The tooldata PlaceAll (defined in module ppaUser.sys) is used at place. Update
PlaceAll: Define the tool center point in the center of the controlled vacuum
ejectors. Update also the weight and the center of mass. Save the updates of the
RAPID program, close the editor, and apply the updates.
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
MoveL\Conc,RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),
MaxSpeed,z20,PlaceAll\WObj:=WObjPlace;
TriggL\Conc,PlaceTarget.RobTgt,LowSpeed,ItmSrcData{Index}.VacuumRev1\T2:=
ItmSrcData{Index}.VacuumOff1\T3:=ItmSrcData{Index}.VacuumOff2\T4:=
ItmSrcData{Index}.VacuumRev2\T5:=ItmSrcData{Index}.SimDetach1\T6:=
ItmSrcData{Index}.SimDetach2,z5\Inpos:=
ItmSrcData{Index}.TrackPoint,PlaceAll\WObj:=WObjPlace;
GripLoad load0;
TriggL RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),
LowSpeed,ItmSrcData{Index}.Ack,z20,PlaceAll\WObj:=WObjPlace;
ELSE
ErrWrite "Missing item distribution", "Cannot place because no
item distribution contains current work area."
\RL2:="Please check configuration";
SafeStop;
ENDIF
ENDPROC
Note
Use the same method to setup a tool with more than two activators. However, a
few additional setup steps are required. For example, using a tool with 3-4
activators requires the following additional steps:
1 Select two I/O boards as controller option. Alternatively, create additional
signals goVacBlow3, goVacBlow4, doVacuum3, doVacuum4, doBlow3,
and doBlow4. The first bit of goVacBlowX shall overlap the signal
doVacuumX. The second bit of goVacBlowX shall overlap the signal
doBlowX.
2 Update the SetTriggs routine. Enable the TriggEquip events
VacuumAct3, VacuumOff3, VacuumAct4, and VacuumOff4 by removing
the comments on these lines.
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6 RAPID reference
6.5.4 Example: Double pick single place
Continued
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