ABB PickMaster Twin - PowerPac, Руководство по применению

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MaxSpeed,ItmSrcData{Index}.VacuumAct1,z20,
PickAct1\WObj:=WObjPick;
TriggL\Conc,PickTarget.RobTgt,LowSpeed,ItmSrcData{Index}.SimAttach1,
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;
ELSEIF pickNo = 2 THEN
TriggL\Conc,RelTool(PickTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),
MaxSpeed,ItmSrcData{Index}.VacuumAct2,
z20,PickAct2\WObj:=WObjPick;
TriggL\Conc,PickTarget.RobTgt,LowSpeed,ItmSrcData{Index}.SimAttach2,
z5\Inpos:=ItmSrcData{Index}.TrackPoint,
PickAct2\WObj:=WObjPick;
GripLoad ItemLoad;
TriggL
RelTool(PickTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),
LowSpeed,ItmSrcData{Index}.Ack,z20,
PickAct2\WObj:=WObjPick;
ENDIF
ELSE
ErrWrite "Missing item distribution", "Cannot pick because no
item distribution contains current work area."
\RL2:="Please check configuration";
SafeStop;
ENDIF
ENDPROC
The tooldata
PickAct1
is used at the first pick. The tooldata
PickAct2
is used
at the second pick. Update
PickAct1
and
PickAct2
(defined in module
ppaUser.sys
): Define the tool center point in the center of the controlled vacuum
ejector. Update also the weight and the center of mass. Save the updates of the
RAPID program, close the editor, and apply the updates.
For the Place routine see the following example. Note the usage of
VacuumOff1
and
VacuumOff2
for the simultaneous placing of both held items.
!***********************************************************
!
! Procedure Place
!
! Executes a place movement.
! Edit this routine to modify how the robot shall
! execute the place movements.
! 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
408 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.5.4 Example: Double pick single place
Continued