ABB PickMaster Twin - PowerPac, Руководство по применению

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6.1.9 UseReachableTargets - Use reachable targets
Description
UseReachableTargets is used to activate a functional mode, where the robot only
receives reachable targets for object handling. When activated, non-reachable
targets are filtered out for target requests with
GetItmTgt , see Application
manual - PickMaster 3 .
UseReachableTargets sets an optimal target release zone with a variable size. The
size of the release zone depends on the robot’s reach and the real-time speed of
the conveyor. When the conveyor speed increases, the size of the release zone
decreases, thereby decreasing the amount of targets available for use. If the
conveyor speed is too high, the release zone disappears completely and no targets
will be received until the speed is reduced.
UseReachableTargets is available only with the PickMaster Ready option.
WARNING
The target release zone depends on the selection of the enter/exit limits, see
Application manual - PickMaster 3 . The resulting target release zone will be the
intersection of the optimal target release zone and the enter/exit region.
The recommended exit/enter values to avoid any impact on the optimal target
zone are as follows:
• Enter = -10000 mm (this signifies, a distance well outside the robot reach in
an upstream direction)
• Exit = 10000 mm (this signifies, a distance well outside the robot reach in a
downstream direction)
The following figure shows the target release zone for an IRB 360 (as seen from
above) at 4 different conveyor speeds. The light blue area is the working range of
the robot and the green area is the target release zone.
xx1800000383
Example
UseReachableTargets ItmSrcData{PlaceWorkArea{1}}.ItemSource, TRUE,
0.7 \ReleaseTime:=0.1;
GetItmTgt PlaceSource, PlaceItem;
Activate UseReachableTargets in the place work area of a linear conveyor. The
targets in use are expected to be placed within a maximum time of 0.7 seconds
after being received with
GetItmTgt . Targets become available for use 0.1 second
Continues on next page
376 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
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6 RAPID reference
6.1.9 UseReachableTargets - Use reachable targets
RobotWare - OS