ABB PickMaster Twin - PowerPac, Applications Manual

Page: 410 / 454

6.5.5 Example: Placing a predefined pattern on indexed work area
Description of example
In this example we place a predefined pattern on an indexed work area. The position
generator signal is triggered from RAPID.
Four new signals must be defined.
1 Position generator signal set from RAPID,
doSIMPosGen
.
2 Position generator signal that generates an event from the controller to the
computer,
diSIMPosGen
.
3 Trigger signal that tells the system on the computer to send a predefined
position,
doSIMTrig
.
4 Strobe signal that tells the system a position is sent,
diSIMStrobe
.
The signals can be defined on the PPASIM board. For example:
-Name "doSIMPosGen" -SignalType "DO" -Unit "PPASIM" -UnitMap "6"
-Access "ALL"
-Name "doSIMTrig" -SignalType "DO" -Unit "PPASIM" -UnitMap "7"
-Access "ALL"
-Name "diSIMPosGen" -SignalType "DI" -Unit "PPASIM" -UnitMap "6"
-Access "ALL"
-Name "diSIMStrobe" -SignalType "DI" -Unit "PPASIM" -UnitMap "7"
-Access "ALL"
Cross connect the trigger and strobe signal and the position generator signals.
For example:
EIO_CROSS
-Res "diSIMPosGen" -Act1 "doSIMPosGen"
-Res "diSIMStrobe" -Act1 "doSIMTrig"
In the RAPID code, create a control of the place queue. If the queue is empty (all
positions in the pattern are used) set the signal
doSIMPosGen
high (in the RAPID
code). This signal is cross connected with the
diSIMPosGen
and an event will be
sent to the computer from the controller that a new pattern has to be sent to the
controller. The trigger strobe signals are also cross connected and the
diSIMStrobe
will be used to strobe the system.
Example code
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
410 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
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6 RAPID reference
6.5.5 Example: Placing a predefined pattern on indexed work area