ABB PickMaster Twin - PowerPac Applications Manual page 6

Table of contents
4.3.4 Calibrating linear conveyor .......................................................................
4.3.4.1 Defining the parameter Counts Per Meter (DSQC 377) ........................
4.3.4.2 Defining the parameter Counts Per Meter (DSQC 2000) ......................
4.3.4.3 Defining the base frame (IRC5) ......................................................
4.3.4.4 Defining the base frame (OmniCore) ...............................................
4.3.5 Calibrating circular conveyor .....................................................................
4.3.5.1 Defining the parameter Counts Per Meter (DSQC 377) ........................
4.3.5.2 Defining the parameter Counts Per Meter (DSQC 2000) ......................
4.3.5.3 Defining the base frame (IRC5) ......................................................
4.3.5.4 Type configuration for circular conveyor ..........................................
4.3.6 Calibrating indexed work area ...................................................................
4.3.7 Verifying conveyor calibrations ..................................................................
4.3.8 Calibrating camera ..................................................................................
4.3.8.1 Showing live images ....................................................................
4.3.8.2 Detailed vision information ............................................................
4.3.8.3 The image windows .....................................................................
4.3.9 Adding vision model ................................................................................
4.3.9.1 Vision modeling ..........................................................................
4.3.9.2 Configuring a geometric model with PatMax .....................................
4.3.9.3 Configuring blob models ...............................................................
4.3.9.4 Configuring inspection models .......................................................
4.3.10 Starting production ..................................................................................
4.3.11 Managing the robot in production ...............................................................
4.4 Using color vision ..............................................................................................
4.5 Ghost Picking ...................................................................................................
5 Production examples
5.1 Example: One pick work area and one place work area ............................................
5.2 Example: One pick from indexed work area and one place work area ..........................
5.3 Example: Mixing one pick work area and two place work areas ..................................
6 RAPID reference
6.1 Instructions ......................................................................................................
6.1.1 AckItmTgt - Acknowledge an item target ......................................................
6.1.2 FlushItmSrc - Flush an item source .............................................................
6.1.3 GetItmTgt - Get the next item target ............................................................
6.1.4 NextItmTgtType - Get the type of the next item target .....................................
6.1.5 QStartItmSrc - Start queue in item source ....................................................
6.1.6 QStopItmSrc - Stop queue in item source ....................................................
6.1.7 ResetFlowCount - Reset flow counter .........................................................
6.1.8 ResetMaxUsageTime - Reset max measured usage time ................................
6.1.9 UseReachableTargets - Use reachable targets ..............................................
6.2 Functions ........................................................................................................
6.2.1 GetMaxUsageTime - Get max measured usage time ......................................
6.2.2 GetQueueLevel - Get queue level ...............................................................
6.2.3 GetQueueTopLevel - Get queue top level ....................................................
6.2.4 GetFlowCount - Get number of passed items ...............................................
6.3 Data types .......................................................................................................
6.3.1 itmtgt - Item target data ............................................................................
6.3.2 selectiondata - Selection data ....................................................................
6.3.3 sortdata - Sort data ..................................................................................
6.4 RAPID program ................................................................................................
6.4.1 RAPID programs .....................................................................................
6.4.2 Variables ...............................................................................................
6.4.3 Routines ................................................................................................
6.4.4 Service routines ......................................................................................
6.5 Program examples ............................................................................................
6.5.1 Example: Mixing one pick work area and two place work areas ........................
6.5.2 Example: Mixing two pick work areas and one place work area ........................
6 Application manual - PickMaster® Twin - PowerPac
© Copyright 2021 ABB. All rights reserved.
186
187
189
191
194
207
208
210
212
216
218
232
234
240
241
244
245
245
246
257
264
283
287
289
297
307
307
329
336
361
361
361
363
364
370
372
373
374
375
376
379
379
380
382
383
384
384
387
390
391
391
396
399
403
404
404
405
3HAC064218-001 Revision: B