ABB PickMaster Twin - PowerPac Applications Manual page 99

Controller
Robot
Workarea Type
Work object
Selection Index
Reference Coordinate
Position XYZ(mm)
Orientation XYZ(deg)
Signal Type
Indexed work area signals
Signal
Robot execution
Queue idle
Position available
Position generator
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
4 Working with PickMaster PowerPac
Description
Select a controller from the list.
Select a robot from the list.
Select work area type from the available options.
• Pick: Select this if the indexed work area is a picking area.
• Place: Select this if the indexed work area is a placing area.
Select a RAPID work object data (wobjdata). The associated
wobjdata is automatically used with the indexed work area.
Note
No work object calibration is needed. The selected wobjdata is
automatically updated when a simulation is started.
Select an index to specify the pick or place order in the RAPID
program when using more than one pick work area and one place
work area with the selected robot.
Allows you to select the reference coordinate for the indexed work
area.
Allows you to set the position for the indexed work area.
Allows you to set the orientation of the indexed work area.
Configure the signals. Use the Customized Settings options to
manage the signals. For more information regarding indexed work
area signals see the following section.
Select the Default Settings check box to use the default signal
configuration.
Description
This optional digital input I/O signal is used to indicate that it
is allowed for the robot to execute an item target in the RAPID
program. Execution starts when the signal is high and stops
when the signal goes low. If the signal goes low, all remaining
items in the currently executing scene is dropped, so when the
signal goes high again, the item targets for the next scene is
executed. The signal must also go low after one scene is fin-
ished and then go high again to start executing item targets
for the next scene.
Digital output signal. This signal is high when the queue for
this work area is empty. The signal goes high when the last
item is retrieved from the queue.
Note
If the robot needs to repeat the motion, this signal should be
the same with the signal in Strobe.
This output signal is high when there are one or more items
when the Robot execution signal is high for the work area. If
no Robot Execution signal is used the Position Available
signal will go high as soon as there are any items in the queue.
Digital input signal that tells that it is time to generate a new
vision image or generate new predefined positions. This signal
is ignored if a distance triggered conveyor is used.
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4.2.6 Adding work area
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