ABB PickMaster Twin - PowerPac - Example: Mixing with One Pick and One Place Work Area

6.5.3 Example: Mixing with one pick 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 which item to pick.
1 Check next item target type
2 Pick item from pick work area
3 Place on out work area
Note
It's recommended to use the Use Start/Stop in the Available Workareas setting.
Example code
PROC Pick(num Index)
VAR num PickType:=0;
VAR num PlaceType:=0;
WObjPick:=ItmSrcData{Index}.Wobj;
NextItmTgtType
ItmSrcData{PlaceWorkArea{1}}.ItemSource,PlaceType;
TEST PlaceType
CASE 4:
PickType:=1;
CASE 5:
PickType:=2;
CASE 6:
PickType:=3;
ENDTEST
GetItmTgt ItmSrcData{Index}.ItemSource, PickTarget
\ItemType:=PickType;
TriggL \Conc, RelTool(PickTarget.RobTgt, 0, 0,
-ItmSrcData{Index}.OffsZ), MaxSpeed,
ItmSrcData{Index}.VacuumAct1, z20, PickAct1 \WObj:=WObjPick;
MoveL \Conc, PickTarget.RobTgt, LowSpeed, z5 \Inpos:=
ItmSrcData{Index}.TrackPoint, PickAct1 \WObj:=WObjPick;
GripLoad ItemLoad;
TriggL RelTool(PickTarget.RobTgt, 0, 0, -ItmSrcData{Index}.OffsZ),
LowSpeed, ItmSrcData{Index}.Ack, z20, PickAct1
\WObj:=WObjPick;
ENDPROC
406 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
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6 RAPID reference
6.5.3 Example: Mixing with one pick and one place work area