ABB PickMaster Twin - PowerPac Applications Manual page 416

6 RAPID reference
6.5.7 Example: Sorting in negative y-direction
Continued
the items will be shuffled off in the order 1 to 10 as numbered in the illustration
below.
xx0800000324
A
B
C
D
E
Example code
Continues on next page
416
Exit
Check limit
Product flow direction
Sort direction
Enter
PROC Pick(num Index)
VAR selectiondata y_sort;
VAR robtarget draw_target;
VAR num check_limit;
y_sort.ShapeType:=BOX;
y_sort.ConsiderType:=BitOr(ITEMS_TO_USE,ITEMS_BYPASS);
y_sort.GeometricData.x:=41;
y_sort.GeometricData.y:=160;
y_sort.GeometricData.z:=5;
y_sort.GeometricData.radius:=0;
y_sort.Offset.OffsetRelation:=FRAME_COORD_DIR;
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B