ABB Robotics PickMaster Twin - PowerPac Anwendungshandbuch Seite 420

5 RAPID-Referenz
5.5.10 Beispiel: Objektpuffer
Fortsetzung
420
TriggL\Conc,Offs(BufferPos{TypeNr},BufferX{TypeNr},0,zboffs),
LowSpeed,ItmSrcData{Index}.SimAttach1,z5\Inpos:=ItmSrcData{Index}.TrackPoint,
PickAct1\WObj:=WObjPick;
GripLoad ItemLoad;
MoveL Offs(RelTool(BufferPos{TypeNr},0,0,-ItmSrcData{Index}.OffsZ),
BufferX{TypeNr}, 0,0), LowSpeed,z20,PickAct1\WObj:=WObjPick;
Decr BufferIndex{TypeNr};
ENDPROC
!***********************************************************
!
! Procedure PlaceBuffer
!
! Executes a place movement
!
!***********************************************************
PROC PlaceBuffer(num Index,num TypeNr)
VAR num zboffs;
Incr BufferIndex{TypeNr};
BufferX{TypeNr}:=(BufferIndex{TypeNr}-1)*BufferPitch{TypeNr};
WObjPlace:=Wobj0;
zboffs:=BufferZ{TypeNr};
MoveL\Conc,Offs(RelTool(BufferPos{TypeNr},0,0,-ItmSrcData{Index}.OffsZ),
BufferX{TypeNr},0,0), MaxSpeed,z20,PickAct1\WObj:=WObjPlace;
TriggL\Conc,Offs(BufferPos{TypeNr},BufferX{TypeNr},0,zboffs),LowSpeed,
ItmSrcData{Index}.VacuumRev1\T2:=ItmSrcData{Index}.VacuumOff1\T3:=
ItmSrcData{Index}.SimDetach1,z5\Inpos:=ItmSrcData{Index}.TrackPoint,
PickAct1\WObj:=WObjPlace;
GripLoad load0;
MoveL Offs(RelTool(BufferPos{TypeNr},0,0,-ItmSrcData{Index}.OffsZ),
BufferX{TypeNr},0,0),LowSpeed,z20,PickAct1\WObj:=WObjPlace;
ENDPROC
© Copyright 2023 ABB. Alle Rechte vorbehalten.
Anwendungshandbuch - PickMaster® Twin - PowerPac
3HAC080435-003 Revision: F