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PickMaster Twin - PowerPac
ABB PickMaster Twin - PowerPac User Manual
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2.5.1
Installing
RobotStudio
Instruction
For
the
detailed
RobotStudio
installation
procedure,
see
Operating
manual
-
RobotStudio
,
3HAC032104-001
.
30
Application
manual
-
PickMaster®
Twin
-
PowerPac
3HAC064218-001
Revision:
B
©
Copyright
2021
ABB.
All
rights
reserved.
2
Installation
2.5.1
Installing
RobotStudio
29
31
Table of Contents
Default Chapter
5
Table of Contents
5
Overview of this Manual
9
1 Welcome to Pickmaster Powerpac
13
Introduction
13
Pickmaster Powerpac Terms
15
2 Installation
17
Pickmaster Package
17
System Requirements
19
Hardware and Software Requirements
19
Ethernet Switch
20
Vision System
21
Camera Requirements
22
Pickmaster Powerpac License
25
Pickmaster Time Synchronization Service
28
Software Installation
29
Installing Robotstudio
30
Installing Pickmaster Twin Client
31
Electrical Connection
34
Pickmaster ® Twin Hardware Connection Illustration
34
Connecting Cameras
35
Connecting I/O Signals
37
Configuring Networks
39
Setting up Robot Controller
42
Optional Robot and Process Configuration
43
Six Axes Robot Configuration
44
3 Navigating Pickmaster Powerpac
45
Start Page
45
Main Window
46
Ribbon Tab
47
Introduction
47
Tree View Browser
56
Cell
56
Status View
68
4 Working with Pickmaster Powerpac
69
Overview
69
Setting up Solution and Recipe in Virtual Runtime (VRT)
71
Creating Solution
71
Adding Controller
75
Adding Gripper
81
Adding Conveyor
85
Adding Sensor
88
Adding Work Area
93
Adding Item
101
Adding Container
105
Adding Recipe
119
Adding Flow
135
Calibration
157
Simulation
159
Configuration in Real Runtime (RRT)
171
Switching to Real Runtime
171
Configuring Camera
181
Calibrating Robot
185
Calibrating Linear Conveyor
186
Defining the Parameter Counts Per Meter (DSQC 377)
187
Defining the Parameter Counts Per Meter (DSQC 2000)
189
Defining the Base Frame (IRC5)
191
Defining the Base Frame (Omnicore)
194
Calibrating Circular Conveyor
207
Defining the Parameter Counts Per Meter (DSQC 377)
208
Defining the Parameter Counts Per Meter (DSQC 2000)
210
Defining the Base Frame (IRC5)
212
Type Configuration for Circular Conveyor
216
Calibrating Indexed Work Area
218
Verifying Conveyor Calibrations
232
Calibrating Camera
234
Showing Live Images
240
Detailed Vision Information
241
The Image Windows
244
Adding Vision Model
245
Vision Modeling
245
Configuring a Geometric Model with Patmax
246
Configuring Blob Models
257
Configuring Inspection Models
264
Starting Production
283
Managing the Robot in Production
287
Using Color Vision
289
Ghost Picking
297
5 Production Examples
307
Example: One Pick Work Area and One Place Work Area
307
Example: One Pick from Indexed Work Area and One Place Work Area
329
Example: Mixing One Pick Work Area and Two Place Work Areas
336
6 RAPID Reference
361
Instructions
361
Ackitmtgt - Acknowledge an Item Target
361
Flushitmsrc - Flush an Item Source
363
Getitmtgt - Get the Next Item Target
364
Nextitmtgttype - Get the Type of the Next Item Target
370
Qstartitmsrc - Start Queue in Item Source
372
Qstopitmsrc - Stop Queue in Item Source
373
Resetflowcount - Reset Flow Counter
374
Resetmaxusagetime - Reset Max Measured Usage Time
375
Usereachabletargets - Use Reachable Targets
376
Functions
379
Getmaxusagetime - Get Max Measured Usage Time
379
Getqueuelevel - Get Queue Level
380
Getqueuetoplevel - Get Queue Top Level
382
Getflowcount - Get Number of Passed Items
383
Data Types
384
Itmtgt - Item Target Data
384
Selectiondata - Selection Data
387
Sortdata - Sort Data
390
RAPID Program
391
RAPID Programs
391
Variables
396
Routines
399
Service Routines
403
Program Examples
404
Example: Mixing One Pick Work Area and Two Place Work Areas
404
Example: Mixing Two Pick Work Areas and One Place Work Area
405
Example: Mixing with One Pick and One Place Work Area
406
Example: Double Pick Single Place
407
Example: Placing a Predefined Pattern on Indexed Work Area
410
Example: Selecting Item Depending on Clearance Zone
412
Example: Sorting in Negative Y-Direction
415
Example: Indexed Work Area with Predefined Position
418
Example: Automatically Generating New Positions to Indexed Work Area
419
7 Troubleshooting
421
Introduction to Troubleshooting
421
Safety During Troubleshooting
422
Administering the Log
423
Fault Symptoms or Errors
424
Warnings 4326 - 4329
424
The Camera Does Not Take Pictures
428
Robot Does Not Move
429
Bad or Varying Position Accuracy
430
Positions Are Used Twice
431
Problem with Camera Resolution in Pickmaster
432
Error Codes
433
8 Spare Parts
445
9 Circuit Diagram
447
Circuit Diagrams
447
Index
449
4
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ABB PickMaster Twin - PowerPac Specifications
General
Brand
ABB
Model
PickMaster Twin - PowerPac
Category
Robotics
Language
English
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