ABB PickMaster Twin - PowerPac, Руководство по применению, Страница: 407 / 454

6.5.4 Example: Double pick single place
Description of example
The robot shall pick up two items, one-by-one, on the infeeder conveyor, and then
place both items on the outfeed conveyor. This operation requires a picking tool
with two vacuum ejectors.
Implementation
As a starting point, create a simple working setup with one robot.
The RAPID program needs to be modified. To edit the RAPID program, go to the
Recipe Setting , select a robot and display the drop down menu, select the Rapid
program and select Edit... .
The
PickPlaceSeq
routine shall perform two Pick routine calls to handle the first
and the second pick. It will then perform one Place routine call to handle the
simultaneous placing of the picked up items. See the following example code.
!
! Procedure PickPlaceSeq
!
! The Pick and Place sequence.
! Edit this routine to specify how the robot shall execute the
movements.
!
!***********************************************************
PROC PickPlaceSeq()
Pick PickWorkArea{1}, 1;
Pick PickWorkArea{1}, 2;
Place PlaceWorkArea{1};
ENDPROC
For the Pick routine, see the following example code. Note the usage of
PickAct2
and
VacuumAct2
for the second pick.
!***********************************************************
!
! Procedure Pick
!
! Executes a pick movement.
! Edit this routine to modify how the robot shall
! execute the pick movements.
! Needs to be changed if more than one activator is used.
!
!***********************************************************
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 407
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.5.4 Example: Double pick single place