ABB PickMaster Twin - PowerPac - Page 417

y_sort.Offset.OffsetPose.trans.x:=0;
y_sort.Offset.OffsetPose.trans.y:=-150;
y_sort.Offset.OffsetPose.trans.z:=0;
y_sort.Offset.OffsetPose.rot.q1:=1;
y_sort.Offset.OffsetPose.rot.q2:=0;
y_sort.Offset.OffsetPose.rot.q3:=0;
y_sort.Offset.OffsetPose.rot.q4:=0;
check_limit:=150;
WObjPick:=ItmSrcData{Index}.Wobj;
GetItmTgt ItmSrcData{Index}.ItemSource,PickTarget
\Limit:=check_limit\Selection:= y_sort;
TriggL\Conc, RelTool(PickTarget.RobTgt, 0, 0,
-ItmSrcData{Index}.OffsZ), MaxSpeed,
ItmSrcData{Index}.VacuumAct1, z20, Gripper\WObj:=WObjPick;
MoveL\Conc, PickTarget.RobTgt, LowSpeed, z5
\Inpos:=ItmSrcData{Index}.TrackPoint, Gripper
\WObj:=WObjPick;
GripLoad ItemLoad;
draw_target:=PickTarget.RobTgt;
draw_target.trans.y:=-200;
draw_target.rot:=[0,1,0,0];
TriggL draw_target, LowSpeed, ItmSrcData{Index}.Ack, z20,
Gripper\WObj:=WObjPick;
ENDPROC
Application manual - PickMaster® Twin - PowerPac 417
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.5.7 Example: Sorting in negative y-direction
Continued