ABB PickMaster Twin - PowerPac User Manual

6.5.2 Example: Mixing two pick work areas and one place work area
Description of example
In this example, we use the place work area as master to decide which item is
needed to fill a pattern, which in turn defines pick work area to pick from.
1 Check next item target type
2 Decide which work area to pick from
3 Pick item from pick work area
4 Place on out work area
Example code
PROC PickPlaceSeq()
VAR num PlaceType:=0;
NextItmTgtType
ItmSrcData{PlaceWorkArea{1}}.ItemSource,
PlaceType;
IF PlaceType = 1 THEN
Pick PickWorkArea{1};
ELSEIF PlaceType = 2 THEN
Pick PickWorkArea{2};
ENDIF
Place PlaceWorkArea{1};
ENDPROC
Application manual - PickMaster® Twin - PowerPac 405
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.5.2 Example: Mixing two pick work areas and one place work area

ABB PickMaster Twin - PowerPac Specifications

General

Brand	ABB
Model	PickMaster Twin - PowerPac
Category	Robotics
Language	English