ABB PickMaster Twin - PowerPac Applications Manual page 414

6 RAPID reference
6.5.6 Example: Selecting item depending on clearance zone
Continued
414
sel_data.Offset.OffsetPose.rot.q3:=0;
sel_data.Offset.OffsetPose.rot.q4:=0;
check_limit:=150;
WObjPick:=ItmSrcData{Index}.Wobj;
GetItmTgt ItmSrcData{Index}.ItemSource,PickTarget
\Limit:=check_limit\Selection:=sel_data;
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