ABB PickMaster Twin - PowerPac - RAPID Program

6.4 RAPID program
6.4.1 RAPID programs
Introduction
Overview
Each robot has a default RAPID program that can be edited using a normal text
editor from the robot settings of the job dialog. When a job is started, the program
is downloaded by PickMaster in the picking controller. The program contains the
Main routine where the program execution starts.
Note
Due to the download procedure, this program cannot be modified directly on the
robot system.
The installation contains the following program template files:
Customized forTemplate
Four axes FlexPicker IRB 360.PMppa360_IRC5.prg
Four axes FlexPicker IRB 360. To be used for a second
multi move robot.
PMppa360_IRC5_MM2.prg
Four axes FlexPicker IRB 360. Adapted for double
pick, single place.
PMppa360_IRC5_DoublePick.prg
Four axes FlexPicker IRB 360. To be used with Robot-
Ware 6.02.
PMppa360_IRC5_6_02.prg
Four axes FlexPicker IRB 360. Adapted for double
pick, single place. To be used with RobotWare 6.02.
PMppa360_IRC5_6_02_DoublePick.prg
Six axes robots of articulated arm type, for example,
IRB 120.
PMppa_6Axes_IRC5.prg
Six axes robots of articulated arm type, for example,
IRB 120. To be used with RobotWare 6.09.
PMppa_6Axes_IRC5_6_02.prg
Customized forTemplate
Four axes FlexPicker IRB 360.PMppa360_OmniCore
Four axes FlexPicker IRB 360. Adapted for double
pick, single place.
PMppa360_OmniCore_DoublePick
Six axes robots of articulated arm type, for example,
IRB 120.
PMppa_6Axes_OmniCore
Program execution - General
The RAPID program is loaded and started from the Main routine by PickMaster
when a new job is started.
For every cycle, the default RAPID program performs:
• a pick on a pick work area.
• a place on a place work area.
Continues on next page
Application manual - PickMaster® Twin - PowerPac 391
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.4.1 RAPID programs