ABB PickMaster Twin - PowerPac Applications Manual page 411

Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
6.5.5 Example: Placing a predefined pattern on indexed work area
MoveL\Conc, RelTool(PlaceTarget.RobTgt, 0, 0,
ItmSrcData{Index}.OffsZ), MaxSpeed, z20,
PickAct1\WObj:=WObjPlace;
TriggL\Conc, PlaceTarget.RobTgt, LowSpeed,
ItmSrcData{Index}.VacuumRev1
\T2:=ItmSrcData{Index}.VacuumOff1, z5
\Inpos:=ItmSrcData{Index}.TrackPoint,
PickAct1\WObj:=WObjPlace;
GripLoad load0;
TriggL RelTool(PlaceTarget.RobTgt, 0, 0, ItmSrcData{Index}.OffsZ),
LowSpeed, ItmSrcData{Index}.Ack, z20,
PickAct1\WObj:=WObjPlace;
ENDPROC
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
Continued
411