ABB PickMaster Twin - PowerPac - Page 166

Description
G
D
C
F
E
A
B
I
H
xx1000001344
Camera and Baseframe originA
CameraB
EnterC
StartD
StopE
ExitF
RobotG
Image frameH
Center of RobotI
Pick/place elevation is the distance, in negative z-direction relative to the tool, from where the robot
approaches the item target.
Pick/placeElev-
ation
Pick/place time is the time the robot is in the pick/place position. If the conveyor is moving during
the pick/place time, the robot will track along the conveyor to keep the relative position on the
moving conveyor.
Pick/place-
Time
Vacuum activation is the time in seconds before the middle of the corner path of the approaching
position, when the vacuum I/O should be set. If a negative value is entered, the vacuum I/O will be
set the time after the middle of the corner path. This value is only valid for work areas of type Pick
or Other.
Note
Vacuum activation does not affect the picking of items in simulation. Items are attached to the
picking tool using SimAttach events, for example, in the Pick Routine.
VacuumActiva-
tion
Vacuum reversion is the time in seconds before the half place time in the place position, when
the blow I/O should be set. If a negative value is entered, the blow I/O will be set the time after the
half place time in the place position. This value is only valid for work areas of type Place or Other.
Note
Vacuum reversion does not affect the placing of items in simulation. Items are detached from the
picking tool using SimDetach events, for example, in the Place Routine.
VacuumRever-
sion
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166 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.2.12 Simulation
Continued