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ABB PickMaster Twin - PowerPac Applications Manual
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ABB PickMaster Twin - PowerPac Applications Manual

ABB PickMaster Twin - PowerPac Applications Manual

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PickMaster
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Summary of Contents for ABB PickMaster Twin - PowerPac

  • Page 1 ROBOTICS Application manual ® PickMaster Twin - PowerPac...
  • Page 2 Trace back information: Workspace Main version a551 Checked in 2023-11-22 Skribenta version 5.5.019...
  • Page 3 Application manual PickMaster® Twin - PowerPac Release 2.3 IRC5 and OmniCore Document ID: 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved. Specifications subject to change without notice.
  • Page 4 Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.
  • Page 5 Setting up Solution with Layout and Process in virtual Runtime (VRT) ......4.3.1 Solution ....................4.3.2 Layout ....................4.3.2.1 Controller ................... 4.3.2.2 Gripper ..................4.3.2.3 Conveyor ................... 4.3.2.4 Camera ..................4.3.2.5 I/O sensor .................. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 6 GetFlowCount - Get number of passed items ..........Data types ....................... 5.3.1 itmtgt - Item target data ................5.3.2 selectiondata - Selection data ..............Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 7 Error codes ...................... Spare parts Licenses ......................Camera parts ....................USB dongle parts ....................GigE Network card parts ..................Circuit diagram Circuit diagrams ....................Index Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 8 This page is intentionally left blank...
  • Page 9 • Operators Prerequisites Any maintenance/repair/installation personnel working with an ABB robot must be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F...
  • Page 10 ABB Ltd and its entities are not liable for damage and/or loss related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.
  • Page 11 Gigabit Ether- net cameras. Note This camera uses ABB customized firmware, which needs to be purchased from ABB. sca1300-32gc Information about Basler Scout Gigabit Eth- ernet cameras and the switch for Gigabit Ethernet cameras.
  • Page 12 • Supported Runtime file transfer function. • Updated time synchronization service. • Updated PickMaster PowerPac license. • Added 2.5D vision. • Minor corrections. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 13 It is integrator's responsibility to take protection measures, like using safe-move or setting proper robot work range etc. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 14 ® • The stop functions in PickMaster Twin can never be used to replace A-stop/E-stop or any other safety related stops. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 15 ® PickMaster Twin is a modular product for controlling ABB robots in picking applications through the robot controller. It is configurable to perform pick and place operations of items. A vision system is used to find randomly placed items on conveyor belts or indexing static work areas.
  • Page 16 Commissioning in online mode directly connected to the real installation. This manual also describes the components of the real system, their installation, configuration and calibration. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 17 A kind of dry run, when production uses recorded virtual items to pick, thus no real item to pick. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 18 1 Welcome to PickMaster PowerPac 1.2 PickMaster PowerPac terms Continued Term Definition Offline Simulation Simulation process when connected to the virtual robot. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 19 A vision demo dongle can be used for this purpose. Software Installation Package Registered ABB customers can download the latest version of the PickMaster Twin Client and the user documentation for PickMaster PowerPac from the ABB download center.
  • Page 20 PickMaster PowerPac and the calibration papers are available in the installation folder Documentation. Note Any old version of PickMaster PowerPac must be uninstalled before installing a newer version of PickMaster PowerPac. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 21 Minimum two USB slots, one Ethernet port and one free PCI Express slot for a 168 mm x 110 mm size PCIE card Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 22 • Environment Requirement：.Net Framework 3.5 xx2300001704 • RobotStudio 2023.3 • Omnicore with RobotWare 7.12. • IRC5 with RobotWare 6.15.04 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 23 An Ethernet switch is used to connect the PC with multiple robot controllers. It is recommended to use an industrial switch with a communication speed of 1000 Mbit/s or higher. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 24 Old Scout cable (10 m) 2000022909 Power-I/O Cable, HRS 12p/open, 10 m Ace camera cable 2000034084 Power-I/O PLC+ Cable 6p/open, , 10 m Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 25 Camera Power VCC 24V (CamPower +) Pink I/O Output VCC 24V (Cam I/O +) Gray/Pink I/O Output 3 Not used Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 26 Camera Power Ground 0V (CamPower-) Note There is no strobe output on ace camera, so we need to have a jumper between TrigOut and SYNCIN Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 27 The size of the camera's sensor chip (normally specified as the distance of the diagonal of the chip, expressed in inches). Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 28 A shorter focal length gives a wider field of view, that is the returned value is the maximum focal length to obtain the specified W and H. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 29 Normally lenses are available in some standard focal lengths. Choose a lens that has a focal length shorter than the calculated value to be sure to capture the entire scene. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 30 2.3 PickMaster PowerPac license 2.3 PickMaster PowerPac license Introduction to licensing A license activation key provided by ABB must be installed and activated to run PickMaster PowerPac. PickMaster PowerPac depends on the activation of RobotStudio. You can use PickMaster PowerPac normally only if you activate RS with a license that includes the PickMaster PowerPac option.
  • Page 31 In the PickMaster PowerPac, on the Options menu, click Activate License. Under Standalong License, choose I want to Activate a standalong license key and click Next. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 32 Enter your 25 character Activation Key (xxxxx-xxxxx-xxxxx-xxxxx-xxxxx) and click Next. Your activation request will be sent to ABB over the Internet. If you are using a valid Activation Key that has not expired or exceeded the number of activations allowed, your PickMaster PowerPac license will be activated immediately, and your PickMaster PowerPac is ready for use when started next time.
  • Page 33 PickMaster Runtime. It is important to follow the proper procedures for certificate replacement in order to ensure seamless and secure communication. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 34 ® 1 Go to the installation path PickMaster Runtime: For virtual Runtime: C:\Program Files (x86)\ABB\PickMaster Twin 2\PickMaster Twin Client 2\PickMaster VirtualRuntime For real Runtime: C:\Program Files (x86)\ABB\PickMaster Twin 2\PickMaster Twin Client 2\PickMaster Runtime 2 Add the self-signing certificate .key and .crt files to the installation path.
  • Page 35 Runtime default certificate with self-signing certificate Continued 4 Change the SSLCertificateFile and SSLCertificateKeyFile to the self-signing certificate files. xx2300000749 5 Save the changes as administrator. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 36 4 Fill in the mandatory and optional information. xx2300000743 User could fill the information based on their own conditions. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 37 6 Generate the self signing certificate. xx2300000746 The new private key file without password and the generated self signing certificate .crt file are the final output. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 38 Twin product is used for the first time, the following dialog box will pop up. xx2300000751 2 Click Yes to install the self-signing certificate. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 39 2 Installation 2.4.4 Installing self-signing certificate Continued 3 Click OK to finish the installation. xx2300000752 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 40 PTP Version 2, it improves accuracy, precision and robustness but is not backward compatible with the original 2002 version. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 41 Core(RobotWare 7) exist independently. • Unchecked: The PTP server will not start/stop automatically with the start/stop of the Runtime. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 42 Use this procedure to set PickMaster options. 1 On the File menu, select Options. The PickMaster Options dialog is opened. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 43 PickMaster will then not connect to any attached cameras. This is useful to avoid conflicts when an external vision system is used through the external sensor interface. 9 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 44 2.6 Software installation 2.6 Software installation Note Anyone working with installation of an ABB robot must be trained by ABB and have the required knowledge of mechanical and electrical installation work. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F ©...
  • Page 45 Operating manual - RobotStudio, 3HAC032104-001. Note When set the unit in RobotStudio, Unspecified is recommended. The other unit may cause uncertain errors in PickMaster product. xx2200002058 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 46 8 Click Next to start the installation. 9 When the installation is complete, choose to restart the computer now or later and click Finish. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 47 2 Click File - Options to open a pop-up dialog. xx2100000346 3 Select the corresponding IP address in the list box and click OK. xx2100000347 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 48 2 Installation ® 2.7.1 PickMaster Twin Hardware connection illustration 2.7 Electrical connection ® 2.7.1 PickMaster Twin Hardware connection illustration Example xx2100000349 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 49 The following cameras are supported by the PickMaster Twin: • Basler Ace acA1440-73gc • Basler Scout scA1300-32gc • Basler Scout scA1390-17gm Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 50 This can be avoided by waiting for 15 seconds between shutting down and restarting. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 51 Refer to the embedded Questions and Answers of the Gig Vision Configuration Tool for more details on what system properties you should modify as necessary. Related information Circuit diagram - PickMaster Twin, 3HAC024480-020. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 52 To be able to use more than one connection in input number 9 (StartSig) on the encoder board we recommend using diodes, for example HER105/Taw diode 1A 400V DO41 (the diodes are not supported by ABB). This will eliminate any possibilities of reverse currents.
  • Page 53 2 Installation 2.7.3 Connecting I/O signals Continued I/O signals on page 172. Conveyor work area default I/O signals on page 174. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 54 B must be used to avoid any overlapping. Contact your local network administrator regarding network overlapping. See the section Communication in Technical reference manual - System parameters. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 55 See Example of suitable network architecture on page Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 56 In the Properties section set the value of MTU at around 9000. If the MTU value is around 1500, it means that the Jumbo frames is not set. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 57 Click OK. 5 Reboot the PC when the installation is complete for all the vision ports. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 58 IP addresses of Port #2 and the cameras connected to it: 192.168.102.X (where X is between 1 and 253). Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 59 Therefore, Runtime and the Ethernet camera tool program should not be run simultaneously, to avoid unpredictable behavior. Instead, shut down Runtime before making changes, then start Runtime after changes are saved. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 60 Related information Product manual for the controller, see References on page Technical reference manual - System parameters. Six axes robot configuration on page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 61 Increasing the value may improve the cycle time slightly. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 62 Generally, the maximum recommended value is 200%. For IRB360 in applications with high robot speed, the maximum re- commended value is 500%. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 63 You can search with key words in the search-box for the specific event. Status view Shows the status of the controller and system at present. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 64 Shows the save button and help button. view Help: open the PickMaster PowerPac application manual. xx2100000867 All windows can be distributed and floating freely. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 65 If the solution will be used in the PickMaster Operator, it must have been connected to a real controller with the same config- uration on PickMaster PowerPac. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 66 Create a new empty solution. with Empty Station Solution Create a new solution with the template. with Cell Template Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 67 Download a desired .rspag file from the connected Host computer Runtime. Connect to the real Runtime on the Host computer before the downloading. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 68 When opening or creating a new solution with PickMaster PowerPac, the Virtual Runtime will start and be connected automatically. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 69 More details about creating an I/O sensor is available in the section Adding an I/O sensor on page 113. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 70 Create a recipe. More details about creating a recipe is available in the section Recipe on page 141. Operation xx2100000860 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 71 Connect to RRT Connect to the real Runtime. Start and Connect to VRT Start the virtual Runtime on the computer and connect to it. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 72 • Runtime • Position generator • Layout Controllers Grippers Conveyors Indexed Work Areas Cameras I/O Sensors External Sensors Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 73 Enter the password of your account in the Runtime. Note Local RRT means the Runtime installed with PickMaster PowerPac. It can be used for test purposes. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 74 If an indexed work area is used, external sensor function will be disabled. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 75 Select Virtual control- Start the selected virtual controller. ler icon Select Real controller Select a real controller when running production. icon Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 76 More details about managing a selected conveyor is available in the section Conveyor on page 109. Delete Delete the selected conveyor. Rename Change the name of the selected conveyor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 77 Indexed work area on page 119. Delete Delete the selected indexed work area. Rename Change the name of the selected indexed work area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 78 Calibrating camera on page 276. Calibration, Live Video and Setting are enabled only for real camera. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 79 Delete the selected camera. Rename Change the name of the selected camera. Examine Examine the selected camera in the Station view. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 80 Delete the selected external sensor. Rename Change the name of the selected external sensor. Examine Examine the selected external sensor in the Station view. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 81 Rename Change the name of the selected container. Copy Create a copy of the selected container with all settings. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 82 Delete the selected recipe. Rename Change the name of the selected recipe. Copy Create a copy file of the selected recipe with all settings. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 83 Expands more operation on the logs, for example export or clean up the current logs. Picking Status Shows an overview of the picking status in summary or detail. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 84 Green: Controller is started and auto-running. tailed status for each Yellow: Controller is started and under controller will show manual controlling or just connected. xx2100001517 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 85 Adding an I/O sensor on page 113. Add an external sensor. For detailed information, see External sensor on page 115. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 86 Add a vision model. For detailed information, see Adding vision model on page 286. Start the production. For detailed information, see Starting production on page 313. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 87 The tool coordinate system defines the position of the tool the robot uses when reaching the programmed targets. See The tool coordinate system on page 92 for more information. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 88 X axis, while moving the joystick to the sides will move the robot along the Y axis. Twisting the joystick will move the robot along the Z axis. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 89 This makes it useful for handling several robots or robots moved by external axes. By default the world coordinate system coincides with the base coordinate system. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 90 For information on how to define the user coordinate system, see information about the data type wobjdata in Technical reference manual - RAPID Instructions, Functions and Data types. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 91 For information on how to define the work object coordinate system, see information about the data type wobjdata in Technical reference manual - RAPID Instructions, Functions and Data types. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 92 The tool coordinate system has its zero position at the center point of the tool. It thereby defines the position and orientation of the tool. The tool coordinate system Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 93 For information on how to define the tool coordinate system, see information about the data type tooldata in Technical reference manual - RAPID Instructions, Functions and Data types. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 94 Tool center position (0) is the origin position of the tool coordinate system which is expressed in the wrist coordinate system (tool0). TCP (0) xx2200001148 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 95 Conveyor frame is used to define where the conveyor is in a PickMaster PowerPac solution but is not directly used in robot controller system. xx2100002388 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 96 The predefined value of x, y, z and angle Z indicate where the items or containers come out in a hotspots frame. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 97 The predefined value of x, y, z and angle Z indicate where the items or containers come out in a hotspots frame. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 98 Conveyor base frame is to define a conveyor’s location and orientation relative to a robot’s base frame. The concept is from ABB conveyor tracking product. This frame is to tell the robot where the conveyor is and is used to express all the items on the conveyor.
  • Page 99 X, Y and Z axes are parallel to those of conveyor frame respectively. Location along X of conveyor frame is determined by I/O sensor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 100 No camera and I/O sensor X points to hotspot 0. Location along Z if conveyor frame is determined by hotspot0. xx2100002466 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 101 Note PickMaster PowerPac only support counter-clock rotation direction temporarily For more information about base frame adjustment, see Position generator on page 121. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 102 The user can create a new solution or open an existing solution from the File ribbon tab. For more information, see File on page 65 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 103 The controller must be created before adding to solution. Adding a controller Click Controller on the ribbon to add a controller in the solution. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 104 2 To add a folder to the Location list, click ... button and then browse and select the folder to be added. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 105 7 Click OK. Note The position can be adjusted when the other parts are added. Right click on the Robot1 in the Controller list. xx2100001532 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 106 Type the values of the inertia in Inertia (kgm Activator Setting Activator Setting Description Activator Using Select the activator to be used. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 107 Shows the detailed customized setting of the signal and allows the user to change the signals. Procedure Use this procedure to add grippers: Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 108 2 In the Gripper window, enter a name in the Gripper Name text box or use the default one. 3 In the Gripper window, use default for the Mass Setting and Activator Setting. 4 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 109 5 If you select a circular conveyor, in the Conveyor window, enter numbers in the RH Size(mm) text box to define the size of the conveyor according to your requirements. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 110 6 In the Conveyor window, enter numbers in the Position X Y Z (mm) text box and Orientation (deg) text boxes to define the location of the conveyor according to your requirements. 7 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 111 Select the reference coordinate for the camera. Position(X,Y,Z)[mm] Set the position of the camera. Orientation[deg] Set the orientation of the camera. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 112 4 In the Camera window, use default for the other settings. 5 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 113 3 In the I/O sensor window, enter numbers in the I/O sensor Height text box to define the height of the I/O sensor according to your requirements or use default settings. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 114 5 In the I/O sensor window, choose a conveyor in the Attached to Conveyor/Index box to define which conveyor the new camera is attached to according to your requirements. 6 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 115 3 In the External Sensor window, choose a conveyor in the Attached to Conveyor/Index box to define which conveyor the new camera is attached to according to your requirements. 4 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 116 When any of Controller, Robot or Conveyor is changed in work area setting, the user must reopen the recipe setting page to enable the modification. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 117 5 Select the required conveyor board in Conveyor Board. 6 Select the desired conveyor, set required work area type and configure the settings. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 118 4 Working with PickMaster PowerPac 4.3.2.7 Work area Continued 7 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 119 Select the Default Settings check box to use the default signal configuration. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 120 2 In the Indexed Work Area window, enter a name in the Work Area Name text box or use the default one. 3 Select the required work area type. 4 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 121 If an indexed work area is used, external sensor function will be disabled. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 122 Base Frame Adjustment Description Controller Select the desired conveyor or indexed work area to adjust its base frame. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 123 6 Click the Sync button to synchronize the data from real base frame to virtual base frame. 7 Click Yes. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 124 After click Yes, the virtual base frame and real base frame will be coincident in the station view. xx2200002000 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 125 If the user click No in this step, the station components will not be moved accordingly. xx2200001999 11 Click to select the other conveyor and set for it. 12 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 126 If the layout in the solution changes, such as changing the camera position or robot position, redo the calibration. For more details on frames, see Frame relationship on page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 127 If the Accepted Type or Rejected Type of different items in one solution set as the same value, the Picking Status will be influenced. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 128 For more information, see Configuring external sensor on page 181. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 129 For more information on configuring an external position generator, Configuring external sensor on page 181. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 130 3 If needed, define levels for accepted or rejected item types. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 131 Configuration dialog are sent to the RAPID program and are processed there. See Configuring inspection models on page 304. 4 Click OK. Related information Configuring inspection models on page 304. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 132 Label Picture Select an image file for the label picture. Show Contour Choose to show the contour or not. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 133 Horizontally icon: distribute all the items in the horizontal direction. Vertically icon: distribute all the items in the vertical direction. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 134 In addition, the number of required hits must be configured. • Inspection: Add an inspection vision model. Import Model Import an existed vision model. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 135 For different ex- ternal sensor, this value may be set differently. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 136 C Click Left to align all items on the left edge according to the base item. Click Right to align all items on the right edge according to the base item. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 137 Click Vertically to set all items tangent in vertical direction. 6 Click Save. The layer layout is saved. 7 Click OK. The container is saved and the window is closed. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 138 If set to 100%, the generated items always have correct position. A lower value defines the probability that an item gets the correct position. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 139 2 Select a type for the flow in Flow Type. 3 Click the Edit Layout icon to open the dialog. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 140 Click Vertically to set all items tangent in vertical direction. 5 Click OK to apply the configuration. 6 Click OK to close the Flow dialog. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 141 Speed: change the speed of the conveyor. Acceleration: change the acceleration of the conveyor. Deceleration: change the deceleration of the conveyor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 142 Vacuum Off does not affect the placing of items in simulation. Items are detached from the picking tool using SimDetach events, for example, in the Place Routine. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 143 This limit must be chosen well within the maximum reach of the robot. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 144 Scenes recording is activated for: {0} After this, the recording will be activated automatically when the simulation or production is started. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 145 Distance, the trigger distance value comes from the Object Generation Distance[mm]/[degree] value. For more information, see the following table. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 146 Sensor Indexed work Vision/Ex- Distance area ternal xx2200002004 Sensor Indexed work Predefine area Indexed work Predefine area Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 147 It is also possible for User Script objects to adjust item positions generated by vision models in PickMaster PowerPac. Item positions carry some free usage Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 148 Python script files will not be included in the Pack&Go file. Copy the Python script files to the desired destination. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 149 There are two ways to customize PickMaster PowerPac with a User Script. Either create a new User Script, or implement an existing user script file. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 150 ' I d ' : ' 9 5 5 2 B E F B - 4 8 0 E - 4 2 B 3 - 9 6 D 1 - 9 E A 2 9 7 5 0 6 5 4 0 ' } Example: xx2200001780 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 151 'Val3': 0.0, 2: Accepted 'Val4': 0.0, • Id: ID of the item 'Val5': 0.0, 'Level': 2, 'Id': '35139a6c-56a8-437d-b180-7f40e49bf6ff' Example: xx2200001781 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 152 ‘XScale : 0.415, • YScale: Y axial scale of real item and image in pixel. ‘YScale': 0.415 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 153 'ModelType':1, For more information, see Configur- 'Score':0.747174859046936, ing a geometric model with PatMax 'XScale':0.9995959997177124, on page 289. 'YScale':0.9995959997177124, Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 154 ‘SortValue : 0.976, ‘ZValid': 0, ‘XImgPos': -80.1, ‘YImgPos': -77.2, 'Val1': 0.0, 'Val2': 0.0, 'Val3': 0.0, 'Val4': 0.0, 'Val5': 0.0, 'Level':2, Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 155 Argument Description Explain • WaId: Workarea Id WaId Workarea ID, which contains WaId:{}. For example: WaId = (98B36BCC-2B65-4054-92A5-3CC36D64B667) Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 156 Id: ID of the item ‘Index': 2, ‘State': 0, ‘Container : 1, ‘Layer : 1, ‘Group': 0, 'Id': '35139a6c-56a8-437d-b180-7f40e49bf6ff Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 157 3 Input the predefined script file name into the Script Name text box. 4 Click Configure Interface to open the interface type page. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 158 If the robot for a trigger work area is stopped, a work area for another robot that is running will be the one that triggers the position source. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 159 ATC group. Description Adaptive Task Completion Shows the created adaptive task completion group. Group Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 160 As a result, PickMaster PowerPac will redistribute the item position to downstream robots according to the configured distribution strategy for the selected item type. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 161 Y direction. GripZ Set the location of the gripper when doing the picking and placing operation in Z direction. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 162 Use this procedure to configure the item’s grip location. 1 Select the Type as Item and select the required item. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 163 The parameters of in tuning work area are synchronized with the parameters in the recipe. Any modification in one place will modify the parameters in the other place. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 164 Vacuum Off does not affect the placing of items in simulation. Items are detached from the picking tool using SimDetach events, for example, in the Place Routine. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 165 This limit must be chosen well within the maximum reach of the robot. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 166 All tunings, including robot tuning, item tuning, and work area tuning, are only valid while the simulation or production is running. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 167 3 Click Start on the ribbon-tab. Then it will start the simulation of created solution. The simulation runs automatically. 4 Click Stop on the ribbon-tab. Then it will stop the simulation. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 168 Before connecting to RRT, start the PickMaster Runtime on the Host computer. When selecting Connect to RRT, the Sign in window is displayed. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 169 If switch failed, the message box will show up. Message: Failed to connect to RRT, please make sure the RRT starts or login information is correct. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 170 1 Right-click the Controller in the tree view Layout and select Edit Controller. The Edit Controller dialog is opened. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 171 The Select Real Controller dialog is opened. 3 In the dialog box, choose the real controller to be connected. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 172 5 Repeat step1 - 4 to the other Conveyor WA. Configuring the I/O I/O signals I/O signals are configured using RobotStudio or the FlexPendant. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 173 On a real robot, the RAPID triggdatas VacuumRevX and VacuumOffX controls when the signal is set/pulsed. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 174 Queue idle cnvX_doQIdle cnvX_doQIdle Position available cnvX_doPAvail cnvX_doPAvail Position generator cnvX_diPosGen cnvX_diPosGen Trig doTrigVisX cXTrigVis Strobe cXNewObjStrobe cXNewObjStrobe Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 175 Position available Position generator Trig Strobe doTrigVisX cXTrigVis Any available do signals can be used. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 176 Make sure that the activator signal setting of gripper is exactly same with the connected controller. Otherwise the gripper will not pick or place the items in PickMaster PowerPac. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 177 The Camera Configuration dialog and the Image dialog are opened. xx2100001622 2 In the Imaging device list, select the Gigabit Ethernet camera to which the camera is connected. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 178 These two parameters must be suitably adjusted depending on the type of objects to look for and the speed of the conveyor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 179 Use the following procedure to configure a simulated camera. 1 Right-click the camera in the tree view Cell and select Configuration. The Camera Configuration dialog is opened. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 180 6 Click OK. Related information Using color vision on page 317. Calibrating camera on page 276. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 181 Anyone who has access to the script can modify the script directly. This may cause serious danger. If an external sensor is used on the conveyor, Flow function will be disabled. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 182 If an external vision system is used it may be necessary to turn off PickMaster's internal vision system to avoid that both systems try to connect to the same camera. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 183 This interface is called when the OK button is clicked in the sensor configuration dialog or Save button is clicked in PositionGenerator dialog. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 184 PMTW to monitor the recipe status in the Runtime. Users could use it with referring to the template in the template folder C:\Program Files (x86)\ABB\Pick- Master Twin 2\PickMaster Twin Client 2\PickMaster PowerPac\Template. The script template ExternalSensor.py is an example which users should follow the class format to develop their own class.
  • Page 185 191. Argument Description Note Python syntax self Refer to the class Position generator id automatically posGenId generated by PMPP Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 186 PMTW together with the strobe time. Argument Description Note Python syntax self Refer to the class Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 187 'Level': 2, # level, 0: Discarded, 1: Rejected, 2: Accepted 'PosGenId': posGenId}, # external sensor position generator id Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 188 'RZ': 0.0, 'Tag': 0, 'Score': 1.0, 'Val1': 0.0, 'Val2': 0.0, 'Val3': 0.0, 'Val4': 0.0, 'Val5': 0.0, 'Level': 2, 'PosGenId': '5413832d-dbbe-44b9-aab3-6bb64d8d30a1'}} Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 189 Please note that before directly stopping the thread, stop the content in the thread first if needed, e.g. close the connection port inside the thread. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 190 This interface will be called when the running recipe is to be stopped. Argument Description Note self Python syntax Refer to the class Example: xx2300000903 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 191 PMPP, which is implemented in ExternalSensorInterface.py. Example: sensorConfigurationDict= {'11548258-b028-470a-b399-b780084acc59': ' SensorType:Camera;IP:192.169.10.10;Brightness:10'} Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 192 ExternalSensorInterface.py and users could use them when needed: self.posGenSensorMapDict[posGenId]. Example: posGenSensorMapDict= {'17dec9b3-8624-45fa-b8cb-366b457e6024': '11548258-b028-470a-b399-b780084acc59'} Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 193 1 Put the predefined script files into the destination folder. The predefined script file(s) should be put into C:\Users\xxxx\Documents\PickMaster\PMScripts folder before use any script function. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 194 9 Configure the position generator according to the user defined in external sensor script file. 10 Click Save to save the configuration data to PMPP for the position generator. 11 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 195 4 Working with PickMaster PowerPac 4.4.4 Calibrating robot 4.4.4 Calibrating robot Instruction Detailed information about how to calibrating the robot are described in the robot product manual. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 196 2 Calibrate the camera, see Defining the base frame on page 222, Defining the base frame on page 199. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 197 3 Run the conveyor belt approximately 1 meter. 4 In the FlexPendant Jogging window, read the position of the conveyor. This is position1. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 198 Counts Per Meter. 9 Tap OK. 10 Restart the controller. Related information Application manual - Conveyor tracking. Technical reference manual - System parameters. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 199 2 Reset the conveyor (encoder board) positions. Note Do not move the conveyor until this step is completely finished. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 200 • In the FlexPendant, click Calibrate. xx2100000362 • Click Option Tab on the up left corner. xx2100000363 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 201 4 Working with PickMaster PowerPac 4.4.5.1.2 Defining the base frame Continued • Click Service Routines. xx2100000364 • Click PrepareCalibration. xx2100000365 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 202 4 Working with PickMaster PowerPac 4.4.5.1.2 Defining the base frame Continued • Click Yes in the popped up dialog. xx2100000366 xx2100000367 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 203 • Set the controller to Manual mode. xx2100000368 • Enable the Thumb button to motors on the controller. xx2100000369 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 204 4.4.5.1.2 Defining the base frame Continued • Click Play. xx2100000370 • Select the work area type Linear Conveyor. xx2100000371 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 205 4 Mount the calibration tool on the robot. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 206 5 Open the Calibration window in Calibrate on the FlexPendant. xx2100000373 6 Select the conveyor, for example, CNV2. xx2100000374 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 207 11 Jog or move the robot by hand. Point out the reference point on the conveyor accurately with the calibration tool TCP. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 208 14 Repeat the steps 10-13 for the points Point 2, Point 3, and Point 4. 15 Tap Next to calculate the base frame. xx2100000378 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 209 If an I/O sensor is used to generate predefined positions, the reference point should be marked on the conveyor at the point where the objects Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 210 In the FlexPendant, click Menu to open the drop-down list. xx2200001925 • Click Program Editor in the drop-down list. xx2200001926 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 211 4.4.5.1.2 Defining the base frame Continued • Click Tasks and Programs. xx2200001927 • Click File and Load Program. xx2200001928 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 212 Click Don't Save in the popped up dialog. xx2200001929 • Click Program Files (Old style)(.prg) on the right upper corner drop-down list. xx2200001930 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 213 4.4.5.1.2 Defining the base frame Continued • Select PrepareCalib.prg and click OK. xx2200001931 • Set the controller to Manual mode. xx2200001932 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 214 4.4.5.1.2 Defining the base frame Continued • Enable the Thumb button to motors on the controller. xx2200001933 • Click Play. xx2200001934 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 215 4.4.5.1.2 Defining the base frame Continued • Select the work area type Lin CNV. xx2200001943 • Select conveyor: for example, CNV1. xx2200001944 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 216 4 Mount the calibration tool on the robot. 5 Open the Calibration window on the FlexPendant. xx2200001946 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 217 7 Tap Base Frame and select 4 Point. xx2200001948 8 Select the robot, for example, T_ROB1. This step is required for MultiMove robots. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 218 1-4) are preferred since this increases the accuracy of the calibration. 13 Repeat the steps 10-13 for the points Point 2, Point 3, and Point 4. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 219 16 If there are more robots to calibrate along the conveyor, continue from step 17 Restart the controllers to activate the new base frames. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 220 5 Measure the physical distance between the two marks. This is the value measured_meters. 6 Calculate Counts Per Meter using the read and measured values. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 221 Counts Per Meter. 9 Tap OK. 10 Restart the controller. Related information Application manual - Conveyor tracking. Technical reference manual - System parameters. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 222 If the robot is a MultiMove robot, load ppacal.prg for this robot task (for example, T_ROB1), and select only this task for execution. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 223 4 Mount the calibration tool on the robot. 5 Open the Calibration window on the FlexPendant. xx2200001946 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 224 7 Tap Base Frame and select 4 Point. xx2200001948 8 Select the robot, for example, T_ROB1. This step is required for MultiMove robots. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 225 1-4) are preferred since this increases the accuracy of the calibration. 13 Repeat the steps 10-13 for the points Point 2, Point 3, and Point 4. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 226 16 If there are more robots to calibrate along the conveyor, continue from step 17 Restart the controllers to activate the new base frames. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 227 2 Define the base frame, see Defining the base frame on page 254, Defining the base frame on page 230. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 228 When this variable is applied to a circular conveyor, the actual meaning is counts per radian. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 229 Counts Per Meter. 9 Tap OK. 10 Restart the controller. Related information Application manual - Conveyor tracking. Technical reference manual - System parameters. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 230 If a camera is used, the reference point is the local origin of the camera view. If the camera has been just calibrated, the reference point is Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 231 5 Reset the conveyor (encoder board) positions. Note Do not move the conveyor until this step is completely finished. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 232 A In the FlexPendant, click Calibrate. xx2100000362 B Click Option Tab on the up left corner. xx2100000363 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 233 4 Working with PickMaster PowerPac 4.4.6.1.2 Defining the base frame Continued C Click Service Routines. xx2100000364 D Click PrepareCalibration. xx2100000365 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 234 4 Working with PickMaster PowerPac 4.4.6.1.2 Defining the base frame Continued E Click Yes in the popped up dialog. xx2100000366 xx2100000367 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 235 F Set the controller to Manual mode. xx2100000368 G Enable the Thumb button to motors on the controller. xx2100000369 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 236 4 Working with PickMaster PowerPac 4.4.6.1.2 Defining the base frame Continued H Click Play. xx2100000370 Select the work area type Circular Conveyor. xx2100000690 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 237 K Wait for the message ...is prepared for calibration. The conveyor position in the jogging window for CNV1 should now be displayed as “0” mm. xx2100000395 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 238 6 If there are more robots need to be calibrating, repeat from step 4 to step 5 for each robot. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 239 10 Jog or move the robot by hand. Point out the reference point on the conveyor accurately with the calibration tool TCP. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 240 If the camera has been just calibrated, the reference point is already marked by the origin of the camera calibration pattern that is attached to the conveyor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 241 5 Reset the conveyor (encoder board) positions. Note Do not move the conveyor until this step is completely finished. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 242 A In the FlexPendant, click Menu to open the drop-down list. xx2200001925 B Click Program Editor in the drop-down list. xx2200001926 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 243 4.4.6.1.2 Defining the base frame Continued C Click Tasks and Programs. xx2200001927 D Click File and Load Program. xx2200001928 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 244 E Click Don't Save in the popped up dialog. xx2200001929 F Click Program Files (Old style)(.prg) on the right upper corner drop-down list. xx2200001930 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 245 4.4.6.1.2 Defining the base frame Continued G Select PrepareCalib.prg and click OK. xx2200001931 H Set the controller to Manual mode. xx2200001932 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 246 4.4.6.1.2 Defining the base frame Continued Enable the Thumb button to motors on the controller. xx2200001933 J Click Play. xx2200001934 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 247 4.4.6.1.2 Defining the base frame Continued K Select the work area type Circ CNV. xx2200001935 L Select conveyor: for example, CNV1. xx2200001936 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 248 CNV1 should now be displayed as “0” mm. xx2200001937 N Wait for the message Select rotation and click the direction of the conveyor. xx2200001938 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 249 6 If there are more robots need to be calibrating, repeat from step 4 to step 5 for each robot. 7 Rotate the belt to make the calibration grid under the camera(d) (zero position). xx2200002008 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 250 Note A mean error of less than 1 mm is acceptable in most cases. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 251 Read the value of CAMERA OFFSET FROM CENTER. This value will be used as the input of Sensor offset in Type configuration for circular conveyor on page 258. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 252 6 Calculate Counts Per Meter using the read and measured values. When this variable is applied to a circular conveyor, the actual meaning is counts per radian. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 253 Counts Per Meter. 9 Tap OK. 10 Restart the controller. Related information Application manual - Conveyor tracking. Technical reference manual - System parameters. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 254 This method uses three measured points on the circular conveyor to calculate the center of rotation. The three points should be spaced as far apart as possible around the periphery. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 255 4 Use the function CNVUTL_cirCntr with the points p_0, p_1, and p_2, to calculate the center of the circle, p_centre. The system module cnv_utl.sys can be found in Robotware. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 256 If the calculation tool provide the arctan2 function, there is no need to judge the quartile and use Pθ = arctan2 (XP1, YP1) directly. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 257 5 Enter the value for z (in meters) from p_0, and the values for the quaternions, q1, q2, q3, and q4, into the base frame for the conveyor. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 258 Mechanics defines the moving trajectory of the conveyor. The default value is EXT_LIN (linear conveyor). So when the circular conveyor is used, this parameter must be set as EXT_ROT. xx2100000067 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 259 Rotating Move defines the conveyor's rotating status. The default value is No (linear conveyor). So when the circular conveyor is used, this parameter must be set as Yes. xx2100000068 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 260 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 261 Do the following for all the robots having work areas that needs to be calibrated along the conveyor: • In the FlexPendant, click Calibrate. xx2100000362 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 262 4.4.7 Calibrating indexed work area Continued • Click Option Tab on the up left corner. xx2100000363 • Click Service Routines. xx2100000364 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 263 • Set the controller to Manual mode. xx2100000368 • Enable the Thumb button to motors on the controller. xx2100000369 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 264 4.4.7 Calibrating indexed work area Continued • Click PrepareCalibration. xx2100000365 • Click Yes in the popped up dialog. xx2100000366 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 265 4 Working with PickMaster PowerPac 4.4.7 Calibrating indexed work area Continued xx2100000367 • Click Play. xx2100000370 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 266 Continued • Select the work area type Stationary. xx2100000396 • Select conveyor: for example, Idxwobj1. Then click OK xx2100000397 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 267 CNV1 should now be displayed as “0” mm. xx2100000398 3 Return to the home page and select Program Data. xx2300001587 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 268 4 Select Workobject in Data Type. xx2100000380 5 In the Workobject, tap on the ... to select Define. xx2100000381 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 269 7 Select X1. Point out a location on the x-axis close to the origin with the robot's TCP. xx2100000383 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 270 11 Select Y1. Point out a location on the positive y-axis with the robot's TCP. 12 Press Modify. 13 Tap Next. xx2100000385 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 271 16 Enable the Thumb button to motors on the controller. 17 Click Play. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 272 MultiMove robot, load ppacal.prg(DSQC 377)/ PrepareCalib.prg(DSQC 2000 ) for this robot task (for example, T_ROB1), and select only this task for execution. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 273 8 Restart the RAPID program (without moving the PP) to save the selected work object definition. The definition is saved in the rapid data array NonCnvWOData located in the ppaUser system module. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 274 The points on the paper. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 275 The angle between the hole to the center and the X axis. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 276 (Minimum 3 images but more images give better results.) • Place the calibration pattern down on the conveyor surface. This should be the origin image. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 277 Prerequisites Camera calibration is done using calibration papers that you must print out. The calibration papers are found in the C:\Program Files (x86)\ABB\PickMaster Twin 2\PickMaster Twin Client 2\PickMaster Runtime\Documentation\Calibration Papers or C:\Program Files (x86)\ABB\PickMaster Twin 2\PickMaster Twin Host 2\PickMaster Runtime\Documentation\Calibration Papers.
  • Page 278 3 Select the default calibration from the list and click Edit. The Camera Calibration Feature and Calibration dialog are opened. xx1800001469 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 279 Add to save them to the list. With multi-view calibration, the space information is calculated automatically. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 280 11 Click OK. For conveyors, leave the calibration paper as it is until the base frame has been calibrated. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 281 The resulting size of the camera view calculated with the new calibration. Camera location The position of the camera in relation to the origin of the origin calibration plate. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 282 The found objects are shown as green or blue crosses, depending on if they are marked as accepted or rejected by the vision model. See Vision modeling on page 286. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 283 Image The pan and zoom buttons can be used to analyze the image more closely. Dialog Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 284 Click Camera to see detailed information about the camera that took the images. Other settings in Vision are identical to settings in Detailed Vision Information. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 285 The current zoom level and the world coordinate of the mouse pointer is shown in the status bar. When live images are shown, the current frame rate is also shown in the status bar. xx2100001521 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 286 3 In the Item Source dialog, click Import Model under the required camera. The Import Vision Model window is opened. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 287 For each kind of vision model, a target storage can be selected for some vision parameters. External vision models This function is reserved for next version. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 288 Related information Configuring a geometric model with PatMax on page 289. Configuring blob models on page 297. Configuring inspection models on page 304. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 289 Geometric Model tab view and the result is displayed in the Search Result window and the Image Dialog. Illustration geometric model Configuration xx2100001647 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 290 Camera Calibration from the Calibration list. Select the Calibration grid checkbox to display help lines for the coordinate system. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 291 Click Train to train the pattern. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 292 Area Overlap defines how much multiple patterns in the image are allowed to largely overlap each other. PatMax assumes that these patterns actually Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 293 The clutter can exceed 1.0. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 294 Objects found within this area will be handled as normal. Object found outside this area will be discarded. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 295 Search Time displays the time it takes to analyze the image in ms. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 296 Related information Item Properties tab on page 127. Using color vision on page 317. RAPID programs on page 367. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 297 To increase the contrast in images where parts have similar grayscale tone, it is possible to use color filtering. See Using color vision on page 317. Illustration Blob Configuration xx2100001661 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 298 4 Working with PickMaster PowerPac 4.4.10.3 Configuring blob models Continued xx2100001662 xx2100001663 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 299 Static is faster than relative segmentation because the gray levels corresponding to the percentages do not have to be computed. Static Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 300 Adjust the size threshold limit to filter out blobs that are too large or too small. Tune other parameters if necessary. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 301 The pixels value that is used to fill the feature is the value of the pixel to the immediate left of the feature being filled. As Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 302 Blob parameters in item targets The blob parameters Area, perimeter, circularity, and elongation can be selected for the target storage. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 303 4.4.10.3 Configuring blob models Continued Related information Using color vision on page 317. Item Properties tab on page 127. RAPID programs on page 367. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 304 5 In the Inspection model part, define the relationships between the alignment model and its corresponding inspection areas. The created models are shown in a tree view. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 305 10 Click OK on the popped-up dialog to edit area. 11 Drag the rectangle so it covers the pattern. xx2100002275 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 306 The areas are shown in the image and should be moved and resized to cover the area to analyze. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 307 2 Select Histogram in the drop-down list to create the sub model. 3 Click OK on the popped-up dialog to edit area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 308 When using color vision the histograms for all channels must fall within the limits. xx2200001126 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 309 Histogram subinspection parameters in item targets The Mean and standard deviation parameters can be selected for the target storage. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 310 7 Adjust the parameters in the Search parameter according to the Defined distance in the Analyze area. xx2200001120 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 311 Delta length define the extra mm to add to the Defined distance to get an Analyze area length. Analyze area length=2*Delta length + Defined distance Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 312 Caliper subinspection parameters in term targets The Distance parameter can be selected for the target storage. External model This function is reserved for next version. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 313 1 On the PickMaster PowerPac ribbon-tab, click Operation. 2 On the Operation ribbon-tab, click Control. The Control dialog is opened. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 314 PickMaster PowerPac station is not exactly the same with the real station. The item is hidden in the conveyor model. Adjust the height of the conveyor model to show the item normally. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 315 This sets the controller in emergency state and a warning is displayed on the FlexPendant and in PickMaster PowerPac and Runtime. 2 Fix the problem. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 316 CAUTION Emergency stop should not be used for normal program stops as this causes extra, unnecessary wear on the robot. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 317 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 318 Vision model Color image Color filter grayscale image Object recognition Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 319 The number of saturated pixels (completely black or white) should be kept to a minimum. 4 Press Calculate. This will calculate the white balance calibration parameters. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 320 The PatMax and Blob configuration dialogs contain a checkbox to enable color filtering (Color filter), and a tab page to display the filter settings. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 321 Move/resize the rectangle to indicate what color should pass through the filter. The indicated color range will be converted to white in the Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 322 Colors that are dissimilar to the specified color will be converted to black. xx2100002268 c Click Get color to store this color range. xx2100002269 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 323 6 If needed, adjust the smoothing factor to reduce noise in the resulting grayscale image. xx2100002270 7 Proceed to define the object recognition model. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 324 If necessary, adjust the settings of the color filter and the Blob analysis. 4 Test the result in the Inspection Configuration dialog. Example 2 Color image before filter xx1900000946 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 325 4 Working with PickMaster PowerPac 4.5 Using color vision Continued Black and white image after filter xx1900000947 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 326 To calculate the true x- and y-coordinates the camera’s height above the calibration plane, and the product’s distance (above/below) to the calibration plane must be Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 327 3 In the Model definition part, click Advanced. This opens the Geometric advanced model settings dialog. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 328 One parameter should be fulfilled for this calculation method. Model Height is literally used to describe the height from the calibration panel to the Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 329 Item Height. Pick Offset is the deviation from the calculation plane to the picking/placing panel. The Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 330 Enable the Enable Uniform Scale and enter a proper range for the scaling. xx2300001537 7 If the calculation method is set as External height, Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 331 Defining a value for Model height, and selecting Item height as height method results in parallax compensation but no z-coordinate is calculated by the vision system. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 332 Post search filters part in the Geometric model dialog. Related information Calibrating camera on page 276. Item on page 127. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 333 After this, the recording will be activated automatically when the simulation or production is started. 5 Set the record time according to your requirements. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 334 7 Click Item/ContainerPattern drop-down list to select the desired item or container. 8 Click OK to save and close the Flow dialog. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 335 Stop icon is clicked. Note The detailed vision is not applicable when running ghost picking flow. The emulation starts running. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 336 4 Working with PickMaster PowerPac 4.7 Production with flow(Ghost Picking) Continued 4 Click Stop to stop the ghost picking in the production. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 337 If combined with Acknowledge = TRUE, skip will have no effect. If Skip is set to FALSE the itmtgt will either be considered as handled by the robot (when Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 338 [\Type ':=' ] <expression (IN) of num>; Related information For information about The data type itmtgt itmtgt - Item target data on page 360. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 339 To avoid potential problems, this instruction should be executed only when the last item target definitely has been acknowledged. Syntax FlushItmSrc [ItemSource ':=' ] <variable (VAR) of itmsrc>; Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 340 In the example graphic below, the sorting is in positive x-direction, negative y-direction, and operating on two different object types. The two object types should Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 341 The maximum waiting time permitted, expressed in seconds. If this time runs out before the item target is retrieved and no TimeOut flag is given, the error handler Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 342 Specifies minimum value for itmtgt parameter Val2. The instruction waits until an item target fulfilling this condition is available for execution. [\Val2Max] Data type: num Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 343 The CheckBoundry distance defines the required clearance distance Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 344 [\Val4Max ':=' ] <expression (IN) of num> [\Val5Min ':=' ] <expression (IN) of num> [\Val5Max ':=' ] <expression (IN) of num>; Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 345 360. The data type selectiondata selectiondata - Selection data on page 363. The data type sortdata sortdata - Sort data on page 366. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 346 This argument is only used if the MaxTime argument is used. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 347 [\TimeFlag ':=' ] <var or pers (INOUT) of bool>; Related information For information about The data type itmtgt itmtgt - Item target data on page 360. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 348 [ItemSource ':=' ] <variable (VAR) of itmsrc>; Related information For information about The instruction QStopItmSrc QStopItmSrc - Stop queue in item source on page 349. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 349 [ItemSource ':=' ] <variable (VAR) of itmsrc>; Related information For information about The instruction QStartItmSrc QStartItmSrc - Start queue in item source on page 348. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 350 ResetFlowCount[ItemSource ':=' ] <variable (VAR) of itmsrc>; Related information For information about The function GetFlowCount GetFlowCount - Get number of passed items on page 359. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 351 The following recoverable errors are generated. They are handled in an error handler. The system variable ERRNO will be set to: The itmsrc is undefined. ERR_ITMSRC_UNDEF Syntax ResetMaxUsageTime[ItemSource ':=' ] <variable (VAR) of itmsrc>; Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 352 0.7 seconds after being received with GetItmTgt. Targets become available for use 0.1 second Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 353 Syntax UseReachableTargets [ItemSource ':=' ] <variable (VAR) of itmsrc>, [Enable ':=' ] <var or pers (IN) of bool> Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 354 A work around to avoid the outside reach errors is to put an extra check on the Y-value of the itemtarget before moving towards it. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 355 The itmsrc is undefined. ERR_ITMSRC_UNDEF Syntax GetMaxUsageTime '('[ItemSource ':=' ] <variable (VAR) of itmsrc> ')'; This function returns the value of the data in num type. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 356 The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: Error code Description itmsrc undefined ERR_ITMSRC_UNDEF Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 357 [\MinLimit ':=' ] <expression (IN) of num> [\MaxLimit ':=' ] <expression (IN) of num>; A function with a return value of the data type num. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 358 ERR_ITMSRC_UNDEF Syntax GetQueueTopLevel '(' [ItemSource ':=' ] <variable (VAR) of itmsrc> ')'; A function with a return value of the data type num. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 359 A function returns value of the data type num. Related information For information about The instruction ResetFlowCount ResetFlowCount - Reset flow counter on page 350. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 360 Optional. Can be used to carry additional item specific information, for example, from a user hook. It is of data type float. val4 Data type: num Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 361 <extax of extjoint> <eax_a of num> <eax_b of num> <eax_c of num> <eax_d of num> <eax_e of num> <eax_f of num> Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 362 Configuration of external axes Technical reference manual - System para- meters What is a quaternion? Technical reference manual - RAPID Over- view Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 363 A BOX shape is defined by the x, y, and z-values. • A CYLINDER shape is defined by the radius value and the height is defined by the z-value. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 364 <Offset of offsetdata> <OffsetRelation of offsetreltype> <OffsetPose of pose> <trans of pos> <x of num> <y of num> <z of num> Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 365 What is a quaternion? Technical reference manual - RAPID Over- view. Example using selectiondata Example: Selecting item depending on clearance zone on page 387. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 366 Examples VAR sortdata y_sort:=[NEG_Y_SORT_TYPE ,78, 52]; Structure <dataobject of sortdata> <SortType of sorttype> <CheckBoundary of num> <SortDirOffset of num> Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 367 Target positions are continuously received in the item source, while being detected with the associated flow handler sensor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 368 The vacuum off moment is calculated as a time after the half place time. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 369 Handles the main program initiations and execution sequence. Do not edit this module for customization purpose. System modules An ABB robot controller with the RobotWare option PickMaster Ready will always contain the loaded system modules ppaBase (crypted) and ppaUser (open). Module...
  • Page 370 TunePos Follow time data. TrackPoint stoppointdata Height for the offset point above the pick or place posi- OffsZ tion. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 371 Unconditional path clearing The AlwaysClearPath (bool always) routine unconditionally clears the path before the restart, if the input parameter value is set to TRUE. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 372 Highest speed used for movements. TASK PERS speeddata LowSpeed:=[…] Low speed used for movements. TASK PERS speeddata VeryLowSpeed:=[…] Lowest speed used for movements. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 373 TASK PERS robtarget IntPosPlaceX:=[…] Defined intermediate position for every place work area robot. Edit this robtarget to fit each work area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 374 It is important that correct loaddata is used to get the best performance of the robot. The default loaddata is the same as tooldataload0. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 375 If a six axes robot is used, this limit can be tuned to avoid motion errors. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 376 SafeStop is called from the PickPlace routine. TRAP PickTuneTrap Trap routine to attach the tuned values from the PickMaster to the corresponding variables. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 377 Tells PickMaster that the process is running. PROC NotifyWaitForExe () Tells PickMaster that the RAPID program is waiting for new order. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 378 TRAP PickRateTrap Trap routine to calculate the correct pick rate for the robot. PROC AlwaysClearPath(bool always) For more details, see AlwaysClearPath on page 371 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 379 3 Place on out work area Example code PROC PickPlaceSeq() Pick PickWorkArea{1}; IF PickTarget.Type = 1 THEN Place PlaceWorkArea{1}; ELSEIF PickTarget.Type = 2 THEN Place PlaceWorkArea{2}; ENDIF ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 380 VAR num PlaceType:=0; NextItmTgtType ItmSrcData{PlaceWorkArea{1}}.ItemSource, PlaceType; IF PlaceType = 1 THEN Pick PickWorkArea{1}; ELSEIF PlaceType = 2 THEN Pick PickWorkArea{2}; ENDIF Place PlaceWorkArea{1}; ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 381 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 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 382 PROC Pick(num Index, num pickNo) IF Index > 0 THEN WObjPick:=ItmSrcData{Index}.Wobj; GetItmTgt ItmSrcData{Index}.ItemSource,PickTarget; IF pickNo = 1 THEN TriggL\Conc,RelTool(PickTarget.RobTgt,0,0, -ItmSrcData{Index}.OffsZ), Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 383 ! Needs to be changed if more than one activator is used. !*********************************************************** PROC Place(num Index) IF Index > 0 THEN WObjPlace:=ItmSrcData{Index}.Wobj; GetItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget; Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 384 The second bit of goVacBlowX shall overlap the signal doBlowX. 2 Update the SetTriggs routine. Enable the TriggEquip events VacuumAct3, VacuumOff3, VacuumAct4, and VacuumOff4 by removing the comments on these lines. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 385 PROC Place(num Index) VAR bool flagplace:=TRUE; WObjPlace:=ItmSrcData{Index}.Wobj; flagplace:=TRUE; WHILE flagplace=TRUE DO GetItmTgt ItmSrcData{Index}.ItemSource, PlaceTarget\MaxTime:=1\TimeFlag:=flagplace; IF flagplace=TRUE THEN PulseDO\PLength:=0.2,doSIMPosGen; ENDIF ENDWHILE Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 386 ItmSrcData{Index}.OffsZ), MaxSpeed, z20, PickAct1\WObj:=WObjPlace; TriggL\Conc, PlaceTarget.RobTgt, LowSpeed, ItmSrcData{Index}.VacuumRev1 \T2:=ItmSrcData{Index}.VacuumOff1, z5 \Inpos:=ItmSrcData{Index}.TrackPoint, PickAct1\WObj:=WObjPlace; GripLoad load0; TriggL RelTool(PlaceTarget.RobTgt, 0, 0, ItmSrcData{Index}.OffsZ), LowSpeed, ItmSrcData{Index}.Ack, z20, PickAct1\WObj:=WObjPlace; ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 387 Item 4 can be picked because no other item is its selection shape. • Item 3 will be picked after item 4 is no longer present. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 388 VAR selectiondata sel_data; VAR robtarget draw_target; VAR num check_limit; sel_data.ShapeType:=BOX; sel_data.ConsiderType:=BitOr(ITEMS_TO_USE,ITEMS_BYPASS); sel_data.GeometricData.x:=60; sel_data.GeometricData.y:=70; sel_data.GeometricData.z:=10;sel_data.GeometricData.radius:=0; sel_data.Offset.OffsetRelation:=ITEM_COORD_DIR; sel_data.Offset.OffsetPose.trans.x:=0; sel_data.Offset.OffsetPose.trans.y:=0; sel_data.Offset.OffsetPose.trans.z:=0; sel_data.Offset.OffsetPose.rot.q1:=1; sel_data.Offset.OffsetPose.rot.q2:=0; Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 389 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 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 390 In the illustration below, all items will be shuffled off to the right side of the conveyor belt. Because each item needs a clear zone, that is the shape of the ShapeType, Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 391 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; Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 392 -ItmSrcData{Index}.OffsZ), MaxSpeed, ItmSrcData{Index}.VacuumAct1, z20, Gripper\WObj:=WObjPick; MoveL\Conc, PickTarget.RobTgt, LowSpeed, z5 \Inpos:=ItmSrcData{Index}.TrackPoint, Gripper \WObj:=WObjPick; GripLoad ItemLoad; draw_target:=PickTarget.RobTgt; draw_target.trans.y:=-200; draw_target.rot:=[0,1,0,0]; TriggL draw_target, LowSpeed, ItmSrcData{Index}.Ack, z20, Gripper\WObj:=WObjPick; ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 393 If a pattern is used, several positions are sent for every signal. In this example the robot execution signal is not used and was therefore removed. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 394 This cross connection will make diPosGenSignal go high and new positions will be pushed to the queue according to the earlier described principles. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 395 Modify the PickPlaceSeq routine to perform Pick routine and Place routine on the buffer position. See the following example code. !*********************************************************** ! Procedure PickPlaceSeq ! The Pick and Place sequence. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 396 If GQL>0 THEN NextItmTgtType ItmSrcData{PlaceWorkArea{1}}.ItemSource, IType; !=== Matching Item on Infeeder ? === GQL:=GetQueueLevel (ItmSrcData{PickWorkArea{1}}.ItemSource \ItmType:=IType \MinLimit:=InFlowEnter \MaxLimit:=InFlowExit); IF GQL>0 THEN Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 397 ! Executes a pick movement !*********************************************************** PROC PickBuffer(num Index,num TypeNr) VAR num zboffs; BufferX{TypeNr}:=(BufferIndex{TypeNr}-1)*BufferPitch{TypeNr}; WObjPick:=Wobj0; zboffs:=BufferZ{TypeNr}; TriggL\Conc,Offs(RelTool(BufferPos{TypeNr},0,0,-ItmSrcData{Index}.OffsZ), BufferX{TypeNr},0,0),MaxSpeed,ItmSrcData{Index}.VacuumAct1,z20, PickAct1\WObj:=WObjPick; Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 398 PROC PlaceBuffer(num Index,num TypeNr) VAR num zboffs; Incr BufferIndex{TypeNr}; BufferX{TypeNr}:=(BufferIndex{TypeNr}-1)*BufferPitch{TypeNr}; WObjPlace:=Wobj0; zboffs:=BufferZ{TypeNr}; MoveL\Conc,Offs(RelTool(BufferPos{TypeNr},0,0,-ItmSrcData{Index}.OffsZ), BufferX{TypeNr},0,0), MaxSpeed,z20,PickAct1\WObj:=WObjPlace; TriggL\Conc,Offs(BufferPos{TypeNr},BufferX{TypeNr},0,zboffs),LowSpeed, ItmSrcData{Index}.VacuumRev1\T2:=ItmSrcData{Index}.VacuumOff1\T3:= ItmSrcData{Index}.SimDetach1,z5\Inpos:=ItmSrcData{Index}.TrackPoint, PickAct1\WObj:=WObjPlace; GripLoad load0; MoveL Offs(RelTool(BufferPos{TypeNr},0,0,-ItmSrcData{Index}.OffsZ), BufferX{TypeNr},0,0),LowSpeed,z20,PickAct1\WObj:=WObjPlace; ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 399 Generic troubleshooting and all error messages in the robot system are listed in Operating manual - Troubleshooting IRC5. Administering the log on page 401. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 400 DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F...
  • Page 401 3 If you need to view the event log without the PickMaster PowerPac, select Save. The event log will be saved as xlsx file. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 402 Sometimes the frequent triggering can be caused by faulty trigger/strobe wiring or electrical noise. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 403 Action 1 on page 402, Action 2 on page 402 PickMaster has no connection with the camera. Action 4 on page 402 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 404 Action 9 on page 403 The external sensor does not send positions with a correct time Action 8 on page 403 stamp.. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 405 The following table provides the probable causes of the warning 4328 and 4329: Probable cause Verfication actions The strobe signal is not stable. Action 2 on page 402 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 406 If the camera is I/O trigged, the photo eye might not be sensing any part, due to: • Wrong connection. • Bad reflection. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 407 Monitor the signal Queue Idle, to see if the queue gets any positions. • Monitor the Position Available signal, to see if the parts are detected. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 408 Check if there are parallax errors when identifying high products. • Make sure that the camera is not mounted on robot frame because this can cause camera vibrations. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 409 If a robot downstream in an ATC group tries to use an already used item, then the Work Area order in the Position Source is incorrect. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 410 Is the factory default configuration is active. • There could be custom configuration activated. Verify if the custom configuration is having reduced ROI (region of interest). Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 411 Sometimes a "pure virtual function call" error pops up. xx2200001057 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 412 Recommended actions The following procedure is recommended to change the firewall settings manually: 1 Open Windows Defender Firewall. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 413 2 Click Allow an app of feature through Windows Defender Firewall to open the Allowed apps window. xx2200001059 3 Click Change settings. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 414 4 Find VisionClient in the list and check that all network checkboxes for all VisionClient or visionclient.exe apps are selected. xx2200001060 5 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 415 Otherwise, this vision scope will cover items on the other side of circular conveyor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 416 Recommended actions Select to enable Enable vision width in the camera setting view if the camera is used on a circular conveyor. xx2200002020 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 417 Index work area doesn't support this scenario. Recommended actions Stop the robot first and then click the Start button of the robot or the Unhold button in PackML. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 418 The old line will not show up as an available line and projects designed on that line cannot be used. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 419 When starting a project, a predefined position source has no object defined. Solution: Edit the position source and define the predefined object to use. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 420 402. 4396 Error A COM error occurred in when using an External Sensor. The log message provides more information. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 421 Reason: PickMaster Time Synchronization Service is not in- stalled. 4812 Error Cannot stop PickMaster Time Synchronization Service. 4813 Error Cannot start PickMaster Time Synchronization Service. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 422 Reason: An attempt was made to access a robot controller that was not configured to be used in the project. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 423 Failed to get the robot controller states. Solution: Ensure that the controller is up and running OK. If not, reboot the controller. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 424 Reason: The network set-up is not correct (e.g. wrong IP settings, faulty network adapter configuration, etc.). Solution: Solve the local network problem on the computer. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 425 Not connected to controller. Reason: The communication with the controller could not be completed. 8339 Error Unexpected error when using ABB Industrial Robot Commu- nication Runtime to communicate with controller. Reason: See error log for more information. 8340 Error Unexpected robot error.
  • Page 426 Item source failed to send positions to the controller. No re- sponse from the controller. 8343 Error The RobotWare version is later than the ABB Industrial Robot Communication Runtime on the PC. The Communication Runtime needs to be updated. Solution: If possible update PickMaster to the latest version.
  • Page 427 Reason: See log message for more information 12318 Error Failed to convert image to a format supported by external vision model. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 428 Message The execution of {%s} in {%s} timed out. 41990 Message The module of {%s} in {%s} load failed. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 429 The element type of {%s} is incorrect in returned data of {%s} in {%s}. 42003 Message Failed to obtain the documents folder path when {%s} was executed in {%s}, please check. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
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  • Page 431 7 Spare parts 7 Spare parts Spare part level ABB spare parts are categorized into two levels, L1 and L2. Always check the part level before conducting a service work on a spare part. • L1 spare parts The L1 parts can be replaced in the field. The maintenance and replacement instructions given in the related product manuals must be strictly followed.
  • Page 432 7 Spare parts 7.1 Licenses 7.1 Licenses Spare part Spare part num- Description Type Spare part level 3HAC072144-001 PickMaster Runtime license Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 433 7.2 Camera parts Spare part - PickMaster camera Spare part num- Description Type Spare part level 3HAC072140-001 PickMaster camera DSQC1066 xx1900001574 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 434 73 frames per second at 1.6 MP resolution. For more details on the camera's installation, see the documentation on the Basler Ace website, Basler Ace. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 435 Opto-isolated I/O Camera Power Groud Ground Ground White Camera Power Camera Power and Camera Power Groud Ground GPIO Ground Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 436 Spare part num- Description Type Spare part level 3HAC074680-001 Camera mount adapter Camera mount for Basler ace cameras. For mounting the camera onto tripod threads. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 437 The dongle can be connected to any USB interface on host computer. The dongle can be connected to any USB interface on client computer. xx1900001747 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 438 Spare part Spare part num- Description Type Spare part level 3HAC078753-001 GigE network card DSQC1083 xx2200000591 * Standard height, half length, PCI express card. Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 439 - OmniCore C30 for CRB 15000 Circuit diagram - IRC5 3HAC024480-011 RobotWare options Product Article numbers for circuit diagrams Circuit diagram - PickMaster Twin 3HAC024480-020 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
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  • Page 441 327 requirements, 24 histogram sub inspection model, 307 grayscale, 317 inspection models, 304 grip locations item height, 327 configuring, 162 networks, 54 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 442 42 cables, 55 robot camera settings, 56 not moving, 407 configuring, 54 starting, 315 configuring controller, 54, 58 stopping, pausing, 315 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 443 55 work area SyncSeparation filter distance, 409 definition, 17 system parameters about, 60 counts_per_meter, 197, 220, 228, 252 zoom, 285 I/O boards, 52 Application manual - PickMaster® Twin - PowerPac 3HAC080435-001 Revision: F © Copyright 2023 ABB. All rights reserved.
  • Page 446 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2023 ABB. All rights reserved. Specifications subject to change without notice.