DescriptionAliasName
Vacuum activation delaynumVacActDelay
Vacuum reversion delaynumVacRevDelay
Vacuum off delaynumVacOffDelay
Position tuning for the work area.posTunePos
Follow time data.stoppointdataTrackPoint
Height for the offset point above the pick or place posi-
tion.
numOffsZ
noncnvwobjdata
The noncnvwobjdata is used in the persistent variable array NonCnvWOData. This
is only used for indexed work areas. The work object data is stored in this array.
This data is then used when the item sources are created.
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
Name of the work area.stringNonCnvWobjName
The stored work object data.wobjdataWobj
AlwaysClearPath
Clear path
The robot path is cleared before the restart when a stop occurs during a motion
that is coordinated to a moving work object. Otherwise the coordinated motion
continues the stored path, but the position of the object in the conveyor may have
changed to a position that is out of reach by the robot.
Unconditional path clearing
The AlwaysClearPath (bool always) routine unconditionally clears the path before
the restart, if the input parameter value is set to TRUE.
Application manual - PickMaster® Twin - PowerPac 395
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.4.1 RAPID programs
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