DescriptionI/O signal name
Digital output for activating vacuum. For example, for gripping
a product. The output signal is set when an item shall be at-
tached to the tool.
Note
The signal is controlled from the RAPID program. In simulation,
the RAPID triggdata SimAttachX controls when the signal
is set. On a real robot, the RAPID triggdata VacuumActX
controls when the signal is set.
doVacuumX
Digital output for activating air blow. For example, for releasing
a product gripped by the robot. The output signal is set when
an item shall be detached from the tool.
Note
The Release signal is controlled from the RAPID program. In
simulation, the RAPID triggdata SimDetachX controls when
the signal is set. On a real robot, the RAPID triggdatas
VacuumRevX and VacuumOffX controls when the signal is
set/pulsed.
doBlowX
Digital I/O group containing doVacuumX and doBlowX.goVacBlowX
Modify I/O signals in work area
Use this procedure to create a ghost picking flow:
1 Right-click on Conveyor WA 1 in the tree view Cell and select Setting.
xx1800001733
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178 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.3.1 Switching to real Runtime
Continued
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