ABB PickMaster Twin - PowerPac

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xx0800000323

GrippersA

Selection shapeB

ItemC

Item target positionD

Product flow directionE

ExitF

Check limitG

EnterH

See selectiondata - Selection data on page 387.

Example code

PROC Pick(num Index)

VAR selectiondata sel_data;

VAR robtarget draw_target;

VAR num check_limit;

sel_data.ShapeType:=BOX;

sel_data.ConsiderType:=BitOr(ITEMS_TO_USE,ITEMS_BYPASS);

sel_data.GeometricData.x:=60;

sel_data.GeometricData.y:=70;

sel_data.GeometricData.z:=10;sel_data.GeometricData.radius:=0;

sel_data.Offset.OffsetRelation:=ITEM_COORD_DIR;

sel_data.Offset.OffsetPose.trans.x:=0;

sel_data.Offset.OffsetPose.trans.y:=0;

sel_data.Offset.OffsetPose.trans.z:=0;

sel_data.Offset.OffsetPose.rot.q1:=1;

sel_data.Offset.OffsetPose.rot.q2:=0;

Continues on next page

Application manual - PickMaster® Twin - PowerPac 413

3HAC064218-001 Revision: B

6 RAPID reference

6.5.6 Example: Selecting item depending on clearance zone

Continued

ABB PickMaster Twin - PowerPac - Page 413