ABB PickMaster Twin - PowerPac - Page 348

Adding the recipe
Note/IllustrationAction
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On the ribbon-tab, click Recipe under
Recipe.
1
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Click on the Available Devices to open
the setting window for the recipe.
2
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Click the Import in the Robot1 under
Robot Setting to choose the rapid.
3
Click the Browser in the Rapid Editor
under Robot Setting to choose the editor.
4
Click the Edit button in the Rapid Editor
under Robot Setting and change the file.
Tip
Replace the old code:
PROC PickPlaceSeq()
Pick PickWorkArea{1};
! Pick PickWorkArea{2};
Place PlaceWorkArea{1};
! Place PlaceWorkArea{2};
ENDPROC
with the new code:
PROC PickPlaceSeq()
Pick PickWorkArea{1};
IF PickTarget.Type = 1 THEN
Place PlaceWorkArea{1};
ELSEIF PickTarget.Type = 2 THEN
Place PlaceWorkArea{2};
ENDIF
ENDPROC
5
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Continues on next page
348 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
5 Production examples
5.3 Example: Mixing one pick work area and two place work areas
Continued