DescriptionActivator Setting
Allows you to select the activator to be used.Activator Using
Allows you to add a new activator.
Note
When you need to do multiple pick, you should add enough
activators for each pick. For example, if you need to pick four
items and then place them, you need to add another three ac-
tivators besides the default one.
To do multiple pick, the Multiple-Pick rapid file in the installation
package should be imported to the recipe for the required ro-
bots.
Add icon
Allows you to delete a selected activator.Delete icon
Select a RAPID tooldata from Tool data. The selected tooldata
shall be used by the RAPID program when picking with this
activator.
Note
The RAPID program needs to be updated if more than one
activator is used. For more details see, Example: Double pick
single place on page 407.
Rapid tooldata
Type the coordinates of the tool center point. The tool center
point defines the location on the tool where an item is attached.
Note
The coordinates are applied to the selected tooldata during the
simulation.
TCP Position
Type the orientation of the tool center point. The TCP orienta-
tion defines the desired orientation of the tool while picking up
an item. The orientation shall be specified as Euler XYZ angles
(degrees).
Note
The orientation is applied to the selected tooldata during the
simulation.
TCP Orientation
Allows you to choose the setting of the signal.Signal
Use default setting for the the signal.Default Settings
Allows you to change the setting of the signal.Customized Settings
Procedure
Use this procedure to add grippers:
Continues on next page
Application manual - PickMaster® Twin - PowerPac 83
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.2.3 Adding Gripper
Continued
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