Description
After you define a start entry in a work area which may called
Start X , you can define a same start entry which may called
Start Y at the vertical direction of the Start X.
Area Setting
Enter is the limit from where the robot starts to execute item
targets on the work area (Start X). The distance is calculated
in millimeters from the center of the robot. The range is positive
if the limit is beyond the center of the robot, relative to the
moving direction of the conveyor. Make sure that the enter
limit can be reached by the robot.
Start is when the next item to execute on the conveyor is above
this limit, the conveyor is started. The distance is calculated in
millimeters from the center of the robot. The range is positive
if the limit is beyond the center of the robot, relative to the
moving direction of the conveyor.
Stop is when an item on the conveyor reaches this limit, the
conveyor is stopped. The distance is calculated in millimeters
from the center of the robot. The range is positive if the limit is
beyond the center of the robot, relative to the moving direction
of the conveyor.
Exit is the limit from where the robot considers an item target
as lost on the work area (Start X). The distance is calculated in
millimeters from the center of the robot. The range is positive
if the limit is beyond the center of the robot, relative to the
moving direction of the conveyor. When the tracked item passes
beyond this limit it will be dropped. This limit must be chosen
well within the maximum reach of the robot. The robot must be
able to reach this position from an arbitrary position in the ro-
bot’s working area before the position is out of reach.
Select the Use Start/Stop checkbox if the work area should
supervise the start and stop limits.
This is handled by the Conveyor start/stop signal, see Adding
work area on page 93.
Select the Start on production start checkbox if the work area
should work with the conveyor when the production is started,
and stopped when the production is stopped.
UpperLimit is the limit form where robot considers an item tar-
get as lost on the work area in End Y.The distance is calculated
in milli-meters from the center of the robot. The range is positive
if the limit is beyond the center of the robot, relative to the
moving vertical direction of the conveyor.Make sure that the
enter limit can be reached by the robot.
LowerLimit is the limit form where robot starts to execute item
targets on the work area in Start Y. The distance is calculated
in milli-meters from the center of the robot. The range is positive
if the limit is beyond the center of the robot, relative to the
moving vertical direction of the conveyor.If the y coordinate
value of the item's position is greater than the UpperLimit, the
robot will not grab the item. So when the tracked item passes
beyond this limit it will be dropped. This limit must be chosen
well within the maximum reach of the robot.
Use UpperLimit/LowerLimit checkbox if the work area should
supervise the upper and lower limits.
Continues on next page
Application manual - PickMaster® Twin - PowerPac 123
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.2.9 Adding Recipe
Continued
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