ABB PickMaster Twin - PowerPac - Page 416

the items will be shuffled off in the order 1 to 10 as numbered in the illustration
below.
xx0800000324
ExitA
Check limitB
Product flow directionC
Sort directionD
EnterE
Example code
PROC Pick(num Index)
VAR selectiondata y_sort;
VAR robtarget draw_target;
VAR num check_limit;
y_sort.ShapeType:=BOX;
y_sort.ConsiderType:=BitOr(ITEMS_TO_USE,ITEMS_BYPASS);
y_sort.GeometricData.x:=41;
y_sort.GeometricData.y:=160;
y_sort.GeometricData.z:=5;
y_sort.GeometricData.radius:=0;
y_sort.Offset.OffsetRelation:=FRAME_COORD_DIR;
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416 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.5.7 Example: Sorting in negative y-direction
Continued