ABB PickMaster Twin - PowerPac, Applications Manual

Page: 166 / 454

Description
G
D
C
F
E
A
B
I
H
xx1000001344
Camera and Baseframe origin A
Camera B
Enter C
Start D
Stop E
Exit F
Robot G
Image frame H
Center of Robot I
Pick/place elevation is the distance, in negative z-direction relative to the tool, from where the robot
approaches the item target.
Pick/placeElev-
ation
Pick/place time is the time the robot is in the pick/place position. If the conveyor is moving during
the pick/place time, the robot will track along the conveyor to keep the relative position on the
moving conveyor.
Pick/place-
Time
Vacuum activation is the time in seconds before the middle of the corner path of the approaching
position, when the vacuum I/O should be set. If a negative value is entered, the vacuum I/O will be
set the time after the middle of the corner path. This value is only valid for work areas of type
Pick
or Other .
Note
Vacuum activation does not affect the picking of items in simulation. Items are attached to the
picking tool using
SimAttach
events, for example, in the Pick Routine.
VacuumActiva-
tion
Vacuum reversion is the time in seconds before the half place time in the place position, when
the blow I/O should be set. If a negative value is entered, the blow I/O will be set the time after the
half place time in the place position. This value is only valid for work areas of type
Place or Other .
Note
Vacuum reversion 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.
VacuumRever-
sion
Continues on next page
166 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.2.12 Simulation
Continued