ABB PickMaster Twin - PowerPac Applications Manual page 83

Activator Setting
Activator Using
Add icon
Delete icon
Rapid tooldata
TCP Position
TCP Orientation
Signal
Default Settings
Customized Settings
Procedure
Use this procedure to add grippers:
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
4 Working with PickMaster PowerPac
Description
Allows you to select the activator to be used.
Allows you to add a new activator.
Note
When you need to do multiple pick, you should add enough
activators for each pick. For example, if you need to pick four
items and then place them, you need to add another three ac-
tivators besides the default one.
To do multiple pick, the Multiple-Pick rapid file in the installation
package should be imported to the recipe for the required ro-
bots.
Allows you to delete a selected activator.
Select a RAPID tooldata from Tool data. The selected tooldata
shall be used by the RAPID program when picking with this
activator.
Note
The RAPID program needs to be updated if more than one
activator is used. For more details see,
single place on page
Type the coordinates of the tool center point. The tool center
point defines the location on the tool where an item is attached.
Note
The coordinates are applied to the selected tooldata during the
simulation.
Type the orientation of the tool center point. The TCP orienta-
tion defines the desired orientation of the tool while picking up
an item. The orientation shall be specified as Euler XYZ angles
(degrees).
Note
The orientation is applied to the selected tooldata during the
simulation.
Allows you to choose the setting of the signal.
Use default setting for the the signal.
Allows you to change the setting of the signal.
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4.2.3 Adding Gripper
Example: Double pick
407.
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