System modules
An ABB robot controller with the RobotWare option PickMaster Ready will always
contain the loaded system modules ppaBase (crypted) and ppaUser (open).
DescriptionModule
Contains variables for communication with PickMaster, event
routines and routines for creating, initiating, and deleting item
sources.
ppaBase
Contains declarations of public data types and holds the work
object data for indexed work areas. It also contains the declar-
ation of default tool data, for example, PickAct1 and
PickAct2.
ppaUser
Public data types
Overview
The system module ppaUser contains two record definitions, sourcedata and
noncnvwobjdata.
sourcedata
The sourcedata is used in the variable array ItmSrcData. This array holds data
about every item source.
The record can be extended for other purposes, but do not change or delete any
component in the structure.
DescriptionAliasName
Flag to indicate that the array index is used.boolUsed
Descriptor to the item source.itmsrcItemSource
Type of source, PICK_TYPE, PLACE_TYPE or
UNDEFINED_TYPE.
itmsrctypeSourceType
Triggdata for acknowledging the item targets.triggdataAck
Triggdata for negative acknowledging the item targets.triggdataNack
Triggdata for attaching a nearby item to activator 1 in
simulation.
triggdataSimAttach1
Triggdata for attaching a nearby item to activator 2 in
simulation.
triggdataSimAttach2
Triggdata for detaching an item held by activator 1 in
simulation.
triggdataSimDetach1
Triggdata for detaching an item held by activator 2 in
simulation.
triggdataSimDetach2
Triggdata for vacuum activation on real robot.triggdataVacuumAct1
Triggdata for vacuum activation on real robot.triggdataVacuumAct2
Triggdata for vacuum blow on real robot.triggdataVacuumRev1
Triggdata for vacuum blow on real robot.triggdataVacuumRev2
Triggdata for vacuum off on real robot.triggdataVacuumOff1
Triggdata for vacuum off on real robot.triggdataVacuumOff2
Work object data for the sourcewobjdataWobj
Continues on next page
394 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.4.1 RAPID programs
Continued
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