Page 1 ROBOTICS Application manual ® PickMaster Twin - PowerPac...
Page 2 Trace back information: Workspace Main version a394 Checked in 2021-03-25 Skribenta version 5.4.005...
Page 3 Application manual ® PickMaster Twin - PowerPac IRC5 and OmniCore Document ID: 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved. Specifications subject to change without notice.
Page 4 Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
4.2.12 Simulation ..................... Configuration in real Runtime (RRT) ..............4.3.1 Switching to real Runtime ................. 4.3.2 Configuring camera ................. 4.3.3 Calibrating robot ..................Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 6 Example: Mixing one pick work area and two place work areas ......6.5.2 Example: Mixing two pick work areas and one place work area ......Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 7 Positions are used twice ................7.4.6 Problem with camera resolution in PickMaster ..........Error codes ...................... Spare parts Circuit diagram Circuit diagrams ....................Index Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
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Page 9: Overview Of This Manual
Operators Prerequisites Any maintenance/repair/installation personnel working with an ABB robot must be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Cybersecurity This product is designed to be connected to and to communicate information and data via a network interface.
Page 10 Overview of this manual Continued References All documents can be found via myABB Business Portal, www.abb.com/myABB. OmniCore Reference Document ID Product specification - PickMaster Twin 3HAC073650-001 Circuit diagram - PickMaster Twin 3HAC024480-020 Application manual - PickMaster Twin - Operator 3HAC069977-001...
Page 11 Updated the operation of editing users in PickMaster PowerPac. • Updated the definition of Adjustment speed in section Six axes robot configuration on page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
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Page 13: Welcome To Pickmaster Powerpac
For efficient quality inspection and product categorization alone or together with the position recognition. PickMaster® Twin is a modular product for controlling ABB robots in picking applications through the robot controller. It is a configurable to perform pick and place operations of items. A vision system is used to find randomly placed items on conveying belts.
Page 14 Commissioning in online mode directly connected to the real installation. This manual also describes the components of the real system, their installation, configuration and calibration. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 15: Pickmaster Powerpac Terms
A kind of dry run, when production uses virtual item to pick, thus no real item to pick. Offline Simulation A kind of simulation process when connected to the virtual ro- bot. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
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Page 17: Installation
For this purpose a vision demo dongle can be used. Software Installation Package Registered ABB customers can download the latest version of the PickMaster Twin Client and the user documentation for PickMaster PowerPac from the ABB download center.
Page 18 PickMaster PowerPac and the calibration papers are available in the installation folder Documentation. Note Any old version of PickMaster PowerPac must be uninstalled before installing a newer version of PickMaster PowerPac. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 19: System Requirements
Following are the software requirements: • Windows 10 (64 bit). • Acrobat reader • Robotstudio 2020.1 or later • RobotWare 6.11 or later Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 20: Ethernet Switch
100 Mbit/s or higher. Switches that implement the 1588 PTP protocol have been known to interfere with the robot controller communication and should not be used. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 21: Vision System
Blob. The filter is available in Standalone, alignment, and sub inspection modes. The vision system has been tested with the Basler Scout ScA1300-32gc, Basler Scout scA1390-17gm and Basler Ace acA1440-73gc cameras. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 22: Camera Requirements
The size of the camera's sensor chip (normally specified as the distance of the diagonal of the chip, expressed in inches). Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 23 A shorter focal length gives a wider field of view, that is the returned value is the maximum focal length to obtain the specified W and H. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 24 Normally lenses are available in some standard focal lengths. Choose a lens that has a focal length shorter than the calculated value to be sure to capture the entire scene. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 25: Pickmaster Powerpac License
2.3 PickMaster PowerPac license 2.3 PickMaster PowerPac license Introduction to licensing A license activation key provided by ABB must be installed and activated to run PickMaster PowerPac. PickMaster PowerPac depends on the activation of Robotstudio. You can use PickMaster PowerPac normally only if you activate RS with a license that includes the PickMaster PowerPac option.
Page 26 Enter your 25 character Activation Key (xxxxx-xxxxx-xxxxx-xxxxx-xxxxx) and click Next. Your activation request will be sent to ABB over the Internet. If you are using a valid Activation Key that has not expired or exceeded the number of activations allowed, your PickMaster PowerPac license will be activated immediately, and your PickMaster PowerPac is ready for use when started next time.
Page 27 Follow the wizard instructions. The PickMaster license will now be activated for the PickMaster PowerPac and the Runtime, and the PickMaster installation ready to use. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 28: Pickmaster Time Synchronization Service
The time synchronization service must be set to operate on the correct PC network interface port, that is, the network port which communicates with the robot controllers. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 29: Software Installation
2.5 Software installation 2.5 Software installation Note Anyone working with installation of an ABB robot must be trained by ABB and have the required knowledge of mechanical and electrical installation work. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B ©...
Page 30: Installing Robotstudio
2 Installation 2.5.1 Installing RobotStudio 2.5.1 Installing RobotStudio Instruction For the detailed RobotStudio installation procedure, see Operating manual - RobotStudio, 3HAC032104-001. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 31: Installing Pickmaster Twin Client
3 Read the license agreement and accept the terms. 4 Click Next. 5 Choose to install the Congnex vision driver and click Next. 6 Click Next. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 32 Use the following procedure to configure the local IP address in the PickMaster Runtime (RRT): 1 Start Runtime. 2 Click File - Options to open a pop-up dialog. xx2100000346 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 33 2 Installation 2.5.2 Installing PickMaster Twin Client Continued 3 Select the corresponding IP address in the list box and click OK. xx2100000347 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 34: Electrical Connection
2 Installation ® 2.6.1 PickMaster Twin Hardware connection illustration 2.6 Electrical connection ® 2.6.1 PickMaster Twin Hardware connection illustration Example xx2100000349 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 35: Connecting Cameras
The following cameras are supported for the PickMaster PowerPac: • acA1440 - 73gc • scA1300 - 32gc • scA1390 - 17gm Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 36 This can be avoided by waiting for 15 seconds between shutting down and restarting. Related information Circuit diagram - PickMaster Twin, 3HAC024480-020. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 37: Connecting I/O Signals
To be able to use more than one connection in input number 9 (StartSig) on the encoder board we recommend using diodes, for example HER105/Taw diode 1A 400V DO41 (the diodes are not supported by ABB). This will eliminate any possibilities of reverse currents.
Page 38 2.6.3 Connecting I/O signals Continued Related information Circuit diagram - PickMaster Twin, 3HAC024480-020 I/O signals on page 177. Predefined I/O signals on page 177. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 39: Configuring Networks
B must be used to avoid any overlapping. Contact your local network administrator regarding network overlapping. See the section Communication in Technical reference manual - System parameters. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 40 3 When all cameras are configured, install the Performance Driver for Gigabit Ethernet vision for each port, see steps 4-6. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 41 IP addresses of Port #2 and the cameras connected to it: 192.168.102.X (where X is between 1 and 253). • Subnet mask: 255.255.255.0 • Gateway: Not Needed. • DNS: N/A. • Wins: N/A. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 42: Setting Up Robot Controller
Related information Product manual for the controller, see References on page Technical reference manual - System parameters. Six axes robot configuration on page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 43: Optional Robot And Process Configuration
Increasing the value may improve the cycle time slightly. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 44: Six Axes Robot Configuration
Generally, the maximum recommended value is 200%. For IRB360 in applications with high robot speed, the maximum re- commended value is 500%. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 45: Navigating Pickmaster Powerpac
3.1 Start page 3 Navigating PickMaster PowerPac 3.1 Start page Overview This chapter describes about the start page of the PickMaster PowerPac. xx1800001744 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 46: Main Window
Status view Shows the status of the controller and system at present. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 47: Ribbon Tab
If the solution will be used in the PickMaster PowerPac, it must have been connected to a real controller with the same config- uration on PickMaster PowerPac. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 48 Allows you to get the basic version information. Exit Allows you to close and exit the PickMaster PowerPac. LAYOUT xx1800001171 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 49 Allows you to create containers. More details about creating an container is available in the section Adding Container on page 105. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 50 More details about how to run the production is available in the section Simulation on page 159 Emulation on page 284. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 51 A default user and password have been created for each group. Administrator Username: admin with Password: password Technicist Username: superuser with Password: ABB1998 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 52 Adding a new user to a group is done in two steps, that is, by creating a user and then assigning it to a group. xx1900000565 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 53 To create a user: 1 Click File and select User Manager. xx1900000564 The User Manager window is displayed. xx1900000565 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 54 6 Select the role to assign to the user in the Role list. 7 Click OK. The user is created and added to the user list with the selected role assigned. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 55 4 Click Yes. The selected user is deleted and removed from the Users list. Note Restart the Runtime to deactivate the deleted user. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 56: Tree View Browser
Following are the objects and configurations saved in the Cell tab. xx1800001383 • RunTime • Controllers • Grippers • Conveyors • Sensors • Items • Containers Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 57 Password Allows you to enter the password of the administrator account for the computer which the Runtime is installed. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 58 Displays the name of the system. IP Address Displays the IP address of the selected controller. Version Displays the version of the system. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 59 Allows you to set a new position for the selected robot. Orientation (deg) Allows you to set a new orientation for the selected robot. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 60 Allows you to examine the selected gripper in the Station view. Conveyor Managing conveyor Right-click on a Conveyor icon. The following window is displayed. xx1800001394 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 61 Description Hotspots list Displays the available hotspots. Position X Y Z Allows you define the position of the hotspot. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 62 Allows you to delete the selected conveyor work area. Rename Allows you to change the name of the selected conveyor work area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 63 Calibration window is displayed. More details about managing a camera is available in the section Calibrating camera on page 234. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 64 Allows you to change the name of the selected camera. Examine Allows you to examine the selected camera in the Station view. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 65 Allows you to examine the selected I/O sensor in the Station view. Items Managing item Right-click on an item icon. The following window is displayed. xx1800001399 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 66 Delete Allows you to delete the selected container. Rename Allows you to change the name of the selected container. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 67 Allows you to delete the selected recipe. Copy Allows you to copy the selected recipe. Rename Allows you to change the name of the selected recipe. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 68: Status View
Yellow: The connection to the real Runtime is progressing. English The using language of the system. Allows you to open the PickMaster PowerPac application manual. xx2000000307 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 69: Working With Pickmaster Powerpac
Otherwise the PickMaster PowerPac cannot connect Runtime and the vision function cannot work normally. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 70 Add a vision model. For detailed information, see Adding vision model on page 245. Start the production. For detailed information, see Starting production on page 283. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 71: Setting Up Solution And Recipe In Virtual Runtime (Vrt)
Use this procedure to create an empty solution: 1 Run the PickMaster PowerPac as administrator. The PickMaster PowerPac opens. xx1800000839 2 Click New. xx1800000840 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 72 User defined allows you to choose one template which saved by the users in the local computer folder. 1 On the PickMaster PowerPac ribbon-tab, click Layout. xx1800001171 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 73 If you have opened a solution before, use this procedure to open a recent solution: 1 Run the PickMaster PowerPac as administrator. The PickMaster PowerPac opens. xx1800000839 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 74 The main window for the chosen recent file shows up. You can also open a recent file from the Open when a solution is opened. xx1800001461 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 75: Adding Controller
When creating an OmniCore controller, the Remote Start and Stop in Auto must be selected. Or the PickMaster PowerPac CANNOT run simulation or production. xx2100000051 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 76 Add the predefined robot to the PickMaster PowerPac. Use existing station librar- Open an existed system from the RobotStudio. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 77 Create a controller on page Note The controller must be created before this step. 1 On the ribbon-tab, click Controller. xx1800000845 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 78 2 To add a folder to the System Pool list, click Add and then browse and select the folder to be added. To remove a folder from the list, click Remove. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 79 The selected controller is added into the solution. The new added controller shows up in the Cell window Controller list. xx1800000848 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 80 The pose can be adjusted when the other parts are added. Right click on the Robot1 in the Cell window Controller list. xx1800000850 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 81: Adding Gripper
This section describes how to add a gripper. xx1900000573 Adding a gripper The Gripper window opens as illustrated below. xx1800000854 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 82 Type the coordinates of the center of gravity. Inertia Type the values of the inertia in Inertia (kgm xx1900001416 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 83 Use default setting for the the signal. Customized Settings Allows you to change the setting of the signal. Procedure Use this procedure to add grippers: Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 84 2 In the Gripper window, enter a name in the Gripper Name text box or use the default one. 3 In the Gripper window, use default for the Mass Setting and Activator Setting. 4 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 85: Adding Conveyor
Allows you to select the a liner conveyor or a circular conveyor. LWH Size(mm) Allows you to define the size of the conveyor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 86 3 In the Conveyor window, select a type as liner or circular in the Conveyor Type drop-down list. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 87 Orientation (deg) text boxes to define the location of the conveyor according to your requirements. 8 In the Conveyor window, use default for the Conveyor Signal and Controller. 9 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 88: Adding Sensor
Description Camera Name The name of the new camera. Make sure the name is unique in the current task. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 89 On the PickMaster PowerPac ribbon-tab, click Layout. Use this procedure to add conveyors: 1 On the ribbon-tab, click Sensor. xx1800001411 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 90 4 In the Camera window, use default for the other settings. 5 Click OK. Adding an I/O sensor The I/O sensor window opens as illustrated below. xx1800001416 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 91 2 In the I/O sensor window, enter a name in the I/O sensor Name text box or use the default one. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 92 5 In the I/O sensor window, choose a conveyor in the Attached to Conveyor/Index box to define which conveyor the new camera is attached to according to your requirements. 6 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 93: Adding Work Area
The Conveyor Workarea window opens as illustrated below. xx1800001419 Description Workarea Name Type a name for the conveyor work area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 95 3 Select the required work area type and configure the settings. 4 Click OK. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 96 For more information regarding Conveyor work area signals see the following section. Select the Default Settings check box to use the default signal configur- ation. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 97 On the PickMaster PowerPac ribbon-tab, click Layout. Use this procedure to a work area: 1 On the ribbon-tab, click Circular Conveyor Workarea. xx1800001420 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 98 The Indexed Workarea window opens as illustrated below. xx1800001428 Description Workarea Name Type a name for the indexed work area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 99 Digital input signal that tells that it is time to generate a new vision image or generate new predefined positions. This signal is ignored if a distance triggered conveyor is used. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 100 2 In the Indexed Workarea window, enter a name in the Workarea Name text box or use the default one. 3 Select the required work area type and configure the settings. 4 Click OK. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 101: Adding Item
This section describes how to add an item. xx1900000591 Adding an item The New Item window opens as illustrated below. xx1800001432 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 102 RAPID program and are supplied with the item targets. For more details see, GetItmTgt - Get the next item target on page 364. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 103 Allows you to import a selected vision model. Export Allows you to export a selected vision model. Delete Allows you to delete a selected vision model. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 104 4 Click OK. Related information Configuring inspection models on page 264. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 105: Adding Container
At least one item must be defined in the solution before configuring the container. Adding a container The Container window opens as illustrated below. xx1800001437 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 106 Allows you to choose to show the contour or not. Show Orientation Marker Allows you to choose to show the orientation maker or not. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 107 Allows you to move the selected layer to a lower level. Total Weight Enter the total weight of all the items. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 108 Show Item Order checkbox allows you to show the added order of the items. Selected Item(s) Allows you to define the location and position of each items. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 109 Allows you to import a selected vision model. Export Allows you to export a selected vision model. Delete Allows you to delete a selected vision model. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 110 2 Define the container with your requirements in the Container Properties tab. 3 Define the container pattern with your requirements in the Container Pattern tab. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 111 4 If need, adjust the layout of the items on the layer. xx2000000294 A Select all items on the layer. xx2000000295 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 112 B Click 'Ctrl' and select the base item at the same time. xx2000000296 C Click Left to align all items on the left edge according to the base item. xx2000000297 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 113 4.2.8 Adding Container Continued Click Right to align all items on the right edge according to the base item. xx2000000298 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 114 4.2.8 Adding Container Continued Click Center to align all items on the centre line vertically according to the base item. xx2000000299 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 115 Click Top to align all items on the top edge according to the base item. xx2000000301 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 116 4.2.8 Adding Container Continued Click Bottom to align all items on the bottom edge according to the base item. xx2000000302 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 117 D Click Horizontally to set all items tangent in horizontal direction. xx2000000303 Click Vertically to set all items tangent in vertical direction. xx2000000304 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 118 4 Working with PickMaster PowerPac 4.2.8 Adding Container Continued 5 Click OK. The container is saved and the window is closed. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 119: Adding Recipe
Adding a recipe The Recipe window opens as illustrated below. xx1800001439 Properties xx1800001440 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 120 Acceleration allows you to change the acceleration of the conveyor. Deceleration allows you to change the deceleration of the conveyor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 121 4 Working with PickMaster PowerPac 4.2.9 Adding Recipe Continued Available Workareas xx1800001442 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 122 Vacuum Off does not affect the placing of items in simulation. Items are detached from the picking tool using SimDetach events, for example, in the Place Routine. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 123 Use UpperLimit/LowerLimit checkbox if the work area should supervise the upper and lower limits. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 124 UpperLimit LowerLimit Record Setting Allows you to record the position of the items and containers in simulation and production. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 125 For more information regarding Distribution Setting see the following section. Main Setting Description Operation Name Allows you to rename the operation. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 126 If you use a camera to detect the position of the item, the corresponding camera also needs to be set in recipe too. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 127 If the Predefined and IO sensor are selected in the recipe, tune the pick location in the Tuning for a radial distance to make up the offset. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 129 If the robot for a trigger work area is stopped, a work area for another robot that is running will be the one that triggers the position source. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 130 If Adaptive Task Completion is selected, any defined ATC groups will be listed among the available distributors. Additionally, ATC groups can be added to load Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 131 Create Group Allows you to create a load balance group. Delete Group Allows you to delete a load balance group. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 132 Allows you to create a adaptive task completion group. Delete Group Allows you to delete a adaptive task completion group. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 133 6 Click to select the item in Available Objects. 7 Click to select the work area in Available Workareas. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 134 As a result, PickMaster PowerPac will redistribute the item position to downstream robots according to the configured distribution strategy for the selected item type. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 135: Adding Flow
When the file is imported, the items detected are mapped to the configured items and container patterns. Adding a flow The Flow window opens as illustrated below. xx1800001743 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 136 Allows you to add pattern for the flow. Delete Allows you to delete the selected item or pattern in the flow. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 137 Y pos dev min/max Defines the minimum and maximum deviation of the Y position from the correct value. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 138 Horizontally icon allows you to distribute all the items in the horizontal direction. Vertically icon allows you to distribute all the items in the vertical direc- tion. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 139 Use this procedure to add a rectangle flow: 1 On the ribbon-tab, click Recipe. xx1800001721 The Create Sim Flow window is opened. xx1800001722 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 140 4 Working with PickMaster PowerPac 4.2.10 Adding Flow Continued 2 Click Add Rectangle Flow to add a rectangle flow. xx1900000581 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 141 3 Click Add Item in the Item/Container tab to add an item for the flow. 4 Click Add Pattern in the Item/Container tab to add a pattern for the flow. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 142 6 Click the Edit Layout icon to open the dialog. 7 Click the Add icon in the Edit Layout dialog to add an item. xx1800001726 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 143 A Select all items on the layer. xx2000000295 B Click 'Ctrl' and select the base item at the same time. xx2000000296 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 144 4.2.10 Adding Flow Continued C Click Left to align all items on the left edge according to the base item. xx2000000297 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 145 4.2.10 Adding Flow Continued Click Right to align all items on the right edge according to the base item. xx2000000298 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 146 4.2.10 Adding Flow Continued Click Center to align all items on the centre line vertically according to the base item. xx2000000299 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 147 Click Top to align all items on the top edge according to the base item. xx2000000301 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 148 4.2.10 Adding Flow Continued Click Bottom to align all items on the bottom edge according to the base item. xx2000000302 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 149 D Click Horizontally to set all items tangent in horizontal direction. xx2000000303 Click Vertically to set all items tangent in vertical direction. xx2000000304 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 150 Allows you to add pattern for the flow. Delete Allows you to delete the selected item or pattern in the flow. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 151 Y pos dev min/max Defines the minimum and maximum deviation of the Y position from the correct value. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 152 Show Item Order checkbox allows you to show the added order of the items. Selected Item(s) Allows you to define the location and position of each items. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 153 Use this procedure to add a sector flow: 1 On the ribbon-tab, click Flow. xx1800001721 The Create Sim Flow window is opened. xx1800001722 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 154 4 Working with PickMaster PowerPac 4.2.10 Adding Flow Continued 2 Click Add Sector Flow to add a sector flow. xx1900000582 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 155 3 Click Add Item in the Item/Container tab to add an item for the flow. 4 Click Add Pattern in the Item/Container tab to add a pattern for the flow. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 156 7 Click the Add icon in the Edit Layout dialog to add an item. xx1800001726 8 Click OK to apply the configuration. 9 Click OK to close the Create Sim Flow dialog. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 157: Calibration
If different recipes use different layouts, after running a simulation of recipe A, you need to use another recipe B for simulation, then you must calibrate recipe B first. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 158 Continued 2 Click Calibration on the ribbon-tab. Then it will start to calibrate the created solution automatically. xx1800001448 The calibration runs automatically. xx1800001449 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 159: Simulation
This function is only available in the real production and emulation. For more information, see Vision on page 284. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 160 Allows you to control the status of the production. Type Allows you to choose the objects in the solution and change their paramet- ers. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 161 For example, trying to rotate the gripper of an IRB 360 robot in X or Y direction will cause an error. Redo the simulation after the error occurred. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 162 The item height must be specified in the Item configuration dialog, as a distance from the base frame to the item origin (vision model grip point). Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 163 The robot must be able to reach this position from an arbitrary position in the robot’s working area before the position is out of reach. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 165 So when the tracked item passes beyond this limit it will be dropped. This limit must be chosen well within the maximum reach of the robot. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 166 Vacuum reversion does not affect the placing of items in simulation. Items are detached from the picking tool using SimDetach events, for example, in the Place Routine. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 167 All tunings, including robot tuning, item tuning, and work area tuning, are only valid while the simulation or production is running. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 168 Otherwise the data will not be saved to the recipe. xx1900000685 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 169 Allows you to control the status of the production. Conveyors Allows you to adjust the speed of the conveyor. Simulation On the PickMaster PowerPac ribbon-tab, click Simulation. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 170 2 Click Start on the ribbon-tab. Then it will start the simulation of created solution. xx1900000586 The simulation runs automatically. 3 Click Stop on the ribbon-tab. Then it will stop the simulation. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 171: Configuration In Real Runtime (Rrt)
RRT, the Sign in window is displayed. The following figure and table provide more details about the window. xx1800001387 xx1800001388 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 172 If the solution will be used in the PickMaster PowerPac, it must have been connected to a real controller with the same configuration on PickMaster PowerPac. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 173 A default admin user, with full access, is provided with the following credentials: • User: admin • Password: password Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 174 Use this procedure to select a real controller: 1 Right-click the Controller in the tree view Cell and select Edit Controller. xx1800001712 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 175 "syslog" -EnableOnPublicNet "Bonjour" -EnableOnPublicNet "RobICI" -EnableOnPublicNet "EtherNetIP" -EnableOnPublicNet "RapidSockets" -EnableOnPublicNet "RobotWebServices" -EnableOnPublicNet "IEEE1588" -EnableOnPublicNet "Netscan" -EnableOnPublicNet "RobAPI" -EnableOnPublicNet Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 176 Note Make sure that the setting 'Allow connection to controller from RobotStudio on public network' is enabled. xx2100000506 xx1800001714 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 177 This output should be connected to the StartSig (input 9) on the corresponding encoder board. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 178 Use this procedure to create a ghost picking flow: 1 Right-click on Conveyor WA 1 in the tree view Cell and select Setting. xx1800001733 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 179 2 Select the Customized Settings in the Signal Type tab. xx1800001735 3 Enter the required data into the I/O signal setting table. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 180 Continued For example: xx1800001736 4 Click OK to close the Recipe setting window. 5 Repeat step1 - 4 to the other Conveyor WA. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 181: Configuring Camera
1 Right-click the camera in the tree view Cell and select Configuration. xx1800001463 The Camera Configuration dialog and the Image dialog are opened. xx1800001464 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 182 3 In the Video format list, select the type of the connected camera. xx1900000645 The image in Image dialog shows up. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 183 These two parameters must be suitably adjusted depending on the type of objects to look for and the speed of the conveyor. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 184 The effect of changing these parameter values is not seen until clicking Apply. 7 Click OK. Related information Using color vision on page 289. Calibrating camera on page 234. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 185: Calibrating Robot
4 Working with PickMaster PowerPac 4.3.3 Calibrating robot 4.3.3 Calibrating robot Instruction Detailed information about how to calibrating the robot are described in the robot product manual. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 186: Calibrating Linear Conveyor
2 Calibrate the camera, see Defining the base frame (IRC5) on page 191, Defining the base frame (OmniCore) on page 194. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 187: Defining The Parameter Counts Per Meter (Dsqc 377)
5 Measure the physical distance between the two marks. This is the value measured_meters. 6 Calculate Counts Per Meter using the read and measured values. For example: (1010*20000)/1005 = 20099 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 188 Counts Per Meter. 9 Tap OK. 10 Restart the controller. Related information Application manual - Conveyor tracking. Technical reference manual - System parameters. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 189: Defining The Parameter Counts Per Meter (Dsqc 2000)
4 In the FlexPendant Jogging window, read the position of the conveyor. This is position1. 5 Measure the physical distance between the two marks. This is the value measured_meters. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 190 Counts Per Meter. 9 Tap OK. 10 Restart the controller. Related information Application manual - Conveyor tracking. Technical reference manual - System parameters. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 191: Defining The Base Frame (Irc5)
In the FlexPendant Program Editor, load the program ppacal.prg(DSQC 377)/ PrepareCalib.prg(DSQC 2000 ). If the robot is a MultiMove robot, load ppacal.prg(DSQC 377)/ Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 192 Note A mean error of less than 1 mm is acceptable in most cases. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 193 17 If there are more robots to calibrate along the conveyor, continue from step 18 Restart the controllers to activate the new base frames. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 194: Defining The Base Frame (Omnicore)
2 Reset the conveyor (encoder board) positions. Note Do not move the conveyor until this step is completely finished. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 195 • In the FlexPendant, click Calibrate. xx2100000362 • Click Option Tab on the up left corner. xx2100000363 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 196 4 Working with PickMaster PowerPac 4.3.4.4 Defining the base frame (OmniCore) Continued • Click Service Routines. xx2100000364 • Click PrepareCalibration. xx2100000365 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 197 4 Working with PickMaster PowerPac 4.3.4.4 Defining the base frame (OmniCore) Continued • Click Yes in the popped up dialog. xx2100000366 xx2100000367 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 198 • Set the controller to Manual mode. xx2100000368 • Enable the Thumb button to motors on the controller. xx2100000369 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 199 4.3.4.4 Defining the base frame (OmniCore) Continued • Click Play. xx2100000370 • Select the work area type Linear Conveyor. xx2100000371 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 200 The conveyor positions for all the conveyor work areas, in the jogging window should indicate the same total travel distance for the reference point. The Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 201 4 Mount the calibration tool on the robot. 5 Open the Calibration window in Calibrate on the FlexPendant. xx2100000373 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 202 4.3.4.4 Defining the base frame (OmniCore) Continued 6 Select the conveyor, for example, CNV1. xx2100000374 7 Tap Define Base Frame. xx2100000375 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 203 11 Jog or move the robot by hand. Point out the reference point on the conveyor accurately with the calibration tool TCP. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 204 1-4) are preferred since this increases the accuracy of the calibration. 14 Repeat the steps 10-13 for the points Point 2, Point 3, and Point 4. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 205 Note A mean error of less than 1 mm is acceptable in most cases. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 206 17 If there are more robots to calibrate along the conveyor, continue from step 18 Restart the controllers to activate the new base frames. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 207: Calibrating Circular Conveyor
In the circular conveyor, the parameter Counts Per Meter indicates counts per radian. 2 Define the base frame, see Defining the base frame (IRC5) on page 212. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 208: Defining The Parameter Counts Per Meter (Dsqc 377)
For example: (1.5*20000)/0.5 = 60000 When this variable is applied to a circular conveyor, the actual meaning is counts per radian. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 209 Counts Per Meter. 9 Tap OK. 10 Restart the controller. Related information Application manual - Conveyor tracking. Technical reference manual - System parameters. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 210: Defining The Parameter Counts Per Meter (Dsqc 2000)
2 Hot start it to set the current position of the conveyor to zero. When this variable is applied to a circular conveyor, the actual meaning is counts per radian. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 211 Counts Per Meter. 9 Tap OK. 10 Restart the controller. Related information Application manual - Conveyor tracking. Technical reference manual - System parameters. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 212: Defining The Base Frame (Irc5)
This method uses three measured points on the circular conveyor to calculate the center of rotation. The three points should be spaced as far apart as possible around the periphery. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 213 4 Use the function CNVUTL_cirCntr with the points p_0, p_1, and p_2, to calculate the center of the circle, p_centre. The system module cnv_utl.sys can be found in Robotware. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 214 XP1 and YP1 coordinates of P0 and the atan function. If the point is at first quartile or frouth quartile: Pθ = arctan(YP1/XP1) Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 215 5 Enter the value for z (in meters) from p_0, and the values for the quaternions, q1, q2, q3, and q4, into the base frame for the conveyor. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 216: Type Configuration For Circular Conveyor
Mechanics defines the moving trajectory of the conveyor. The default value is EXT_LIN (linear conveyor). So when the circular conveyor is used, this parameter must be set as EXT_ROT. xx2100000067 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 217 Rotating Move defines the conveyor's rotating status. The default value is No (linear conveyor). So when the circular conveyor is used, this parameter must be set as Yes. xx2100000068 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 219 This point becomes the local origin of the detected items or containers. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 220 Do the following for all the robots having work areas that needs to be calibrated along the conveyor: • In the FlexPendant, click Calibrate. xx2100000362 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 221 4.3.6 Calibrating indexed work area Continued • Click Option Tab on the up left corner. xx2100000363 • Click Service Routines. xx2100000364 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 222 4.3.6 Calibrating indexed work area Continued • Click PrepareCalibration. xx2100000365 • Click Yes in the popped up dialog. xx2100000366 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 223 4 Working with PickMaster PowerPac 4.3.6 Calibrating indexed work area Continued xx2100000367 • Set the controller to Manual mode. xx2100000368 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 224 4.3.6 Calibrating indexed work area Continued • Enable the Thumb button to motors on the controller. xx2100000369 • Click Play. xx2100000370 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 225 Continued • Select the work area type Stationary. xx2100000396 • Select conveyor: for example, Idxwobj1. Then click OK xx2100000397 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 226 CNV1 should now be displayed as “0” mm. xx2100000398 3 Select the Workobject in the Option Tab. xx2100000380 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 227 5 In the Define User frame window, set the User Method as User defined with 3 points. xx2100000382 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 228 8 Select X2. Move the TCP a distance in the direction the x-axis. Point out a location on the x-axis with the robot's TCP. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 229 10 Select Y1. Point out a location on the positive y-axis with the robot's TCP. 11 Press Modify. 12 Tap Next. xx2100000385 13 In the Define Object frame window, tap Next. xx2100000386 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 230 15 Click OK on the popped up dialog. xx2100000392 16 Enable the Thumb button to motors on the controller. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 231 18 Click Yes on the question: Do you want to save this work object definition. xx2100000393 xx2100000394 19 The definition is saved in the rapid data array NonCnvWOData located in the ppaUser system module. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 232: Verifying Conveyor Calibrations
4 Examine how the robot is placing the holes to adjust possible errors in the camera calibration or the base frame calibration. xx0900000649 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 233 If the holes are off center of the objects too much, which affects the accuracy of the grasp, then recalibrate the base frame of the conveyor. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 234: Calibrating Camera
The Camera Calibration dialog can be used to handle camera calibrations for the specified camera. Calibrations can be created, edited, imported, and exported. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 235 2 Select the default calibration from the list and click Edit. The Camera Calibration Feature and Calibration dialog are opened. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 236 4 Working with PickMaster PowerPac 4.3.8 Calibrating camera Continued xx1800001469 xx1800001470 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 238 11 Click OK. For conveyors, leave the calibration paper as it is until the base frame has been calibrated. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 239 The resulting size of the camera view calculated with the new calibration. Camera location The position of the camera in relation to the origin of the origin calibration plate. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 240: Showing Live Images
The found objects are shown as green or blue crosses, depending on if they are marked as accepted or rejected by the vision model. See Vision modeling on page 245. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 241: Detailed Vision Information
If several dialogs are opened at the same time and the maximum memory size is reached, you can reduce the buffer for one dialog to increase the buffer for another. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 242 Only overlapping item regions in the same image are marked as overlapped but no robot will access items with regions that overlap with item regions in consecutive images. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 243 Click Vision to see detailed information about the camera that took the images. Other settings in Vision are identical to settings in Detailed Vision Information. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 244: The Image Windows
The current zoom level and the world coordinate of the mouse pointer is shown in the status bar. When live images are shown, the current frame rate is also shown in the status bar. xx1800001469 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 245: Adding Vision Model
Related information Configuring a geometric model with PatMax on page 246. Configuring blob models on page 257. Configuring inspection models on page 264. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 246: Configuring A Geometric Model With Patmax
PatMax Model Configuration dialog and the result is displayed in the PatMax Image and the PatMax Result dialogs: Illustration PatMax Model Configuration xx1900000557 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 247 4 Working with PickMaster PowerPac 4.3.9.2 Configuring a geometric model with PatMax Continued xx1900000558 xx1900000559 xx1900000560 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 248 The Item Setting window is opened. xx1800001705 2 In the Item Source dialog, click Geometric. The Image Dialog and Geometric dialog are opened. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 249 3 In the Image under Model Definition, click Live, Acquire, or Import to get an image. Select the calibration that has set in the Camera Calibration from Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 250 4 If color filtering should be used select the Color filter checkbox to enable the filter. Click Set to configure the filter. See Using color vision on page 289. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 251 The lower limit is 0 and upper limit is 25. This setting is useful for products of varying shape. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 252 PatMax considers only items with a contrast value that exceeds the contrast limit. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 253 A model can either be classified as accepted or rejected. An accepted model has better search results than the rejected Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 254 Note Item regions cannot be used, if the item positions are modified by a user hook. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 255 The hits shown in the result list are marked with an icon identifying its classification. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 256 Related information Item Properties on page 102. Using color vision on page 289. RAPID programs on page 391. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 257: Configuring Blob Models
To increase the contrast in images where parts have similar grayscale tone, it is possible to use color filtering. See Using color vision on page 289. Illustration Blob Configuration xx1900000553 xx1900000554 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 258 There are also a number of statistical values representing various properties of the histogram such as the value of the darkest and Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 259 Tails represent noise-level pixels that lie at the extremes of the histogram (the lowest and the highest values). Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 260 102. The item type can be read in the RAPID code, RAPID programs on page 391. Select Set levels to open the Blob Inspection Parameters dialog. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 261 Closing eliminates holes. Preserves small features. An erosion operation is applied to the image, followed by a dilation operation. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 262 Item score displays the score for the selected item in the image window. • Item area displays the area of the blob in the image window. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 263 Related information Using color vision on page 289. Histogram on page 272. Item Properties on page 102. RAPID programs on page 391. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 264: Configuring Inspection Models
Illustration Inspection Configuration xx1900000931 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 265 Delete is used to delete the selected model and corresponding inspection area. Edit Areas shows all inspection areas. The areas can be rearranged for the selected sub inspection model. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 266 6 Select Geometric or Blob in the drop-down list to create the main model in the Select Model Type dialog and click OK button. For detail procedures on Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 267 Configuring a geometric model with PatMax on page 246 Configuring blob models on page 257. xx1900000956 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 268 4 Working with PickMaster PowerPac 4.3.9.4 Configuring inspection models Continued 7 Click Add to open the Select Model Type dialog. xx1900000957 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 269 Select Model Type dialog and click OK button. xx1900000958 9 Click Edit Areas. xx1900000959 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 270 Configuring a geometric model with PatMax on page 246, Configuring blob models on page 257, Histogram on page 272 Caliper on page 277. xx1900000961 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 271 Sub inspection models only analyze the part of the image defined by its inspection area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 272 (Red, Green, and Blue) is measured separately. The histogram tool is useful when the objects to be identified and classified have similar shapes but different colors. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 273 (RGB or HSI), are displayed. For more information, see Using color vision on page 289. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 274 4.3.9.4 Configuring inspection models Continued 2 Click Edit Areas. xx1900000951 3 Drag the rectangle so it covers the pattern. xx1900000952 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 275 When using color vision the histograms for all channels must fall within the limits. xx1900000954 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 276 Histogram subinspection parameters in item targets The Mean and standard deviation parameters can be selected for the target storage. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 277 1 On the Sub Inspection Model in the Select Model Type dialog box, select Caliper in the drop-down list and click OK button. xx1900000933 Figure 4.2: Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 278 4 Working with PickMaster PowerPac 4.3.9.4 Configuring inspection models Continued 2 Click Edit Areas. xx1900000934 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 279 3 Drag the rectangle so it covers the pattern. xx1900000935 4 Click Edit to open the inspection model creating window. xx1900000936 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 280 6 Adjust the Search Parameter in the Search Parameters according to the Defined Distance in the Analyze Area. xx1900000938 7 Click Search. xx1900000939 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 281 The Distance Search is used to search for two edges with the specified distance (Defined Distance) and the defined polarity. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 282 Caliphar subinspection paramters in term targets The Distance parameter can be selected for the target storage. External This function is reserved for next version. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 283: Starting Production
Allows you to see the live video of the camera. For more information regarding Vision see Vision on page 284. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 284 Continued Vision xx1900000569 Emulation Use this procedure to do the emulation: 1 On the Production ribbon-tab, click Production. xx1800001717 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 285 4.3.10 Starting production Continued The Production dialog is opened. xx1800001718 2 Click Recipe and Start to run the production xx1800001719 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 286 PickMaster PowerPac station is not exactly the same with the real station. The item is hidden in the conveyor model. Adjust the height of the conveyor model to show the item normally. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 287: Managing The Robot In Production
The following values are shown: • Number of pick during the last minute. • Total number of picks since the production was started. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 288 CAUTION Emergency stop should not be used for normal program stops as this causes extra, unnecessary wear on the robot. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 289: Using Color Vision
Because the hue spectrum wraps around (both 0 and 255 represent red), it is suitable to display it as a circle. xx0900000444 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 290 Vision model Color image Color filter grayscale image Object recognition Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 291 The number of saturated pixels (completely black or white) should be kept to a minimum. 4 Press Calculate. This will calculate the white balance calibration parameters. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 292 The Color Filter Settings dialog is opened together with a second video window showing the color image. 2 In the Color Filter part, select RGB or HSI. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 293 Move/resize the rectangle to indicate what color should pass through the filter. The indicated color range will be converted to white in the Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 294 - the result is a black and white image. A non-zero value means that colors outside the Low/High range Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 295 2 Create a PatMax alignment model. Use color filtering if contrast needs to be increased, or use the unfiltered monochrome image if there is sufficient contrast. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 296 4 Test the result in the Inspection Configuration dialog. Example 2 Color image before filter xx1900000946 Black and white image after filter xx1900000947 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 297: Ghost Picking
3 Click the Conveyor WA in the Available worarea which need to be recorded to open the work area setting window. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 298 Use this procedure to add a ghost picking flow: 1 On the PickMaster PowerPac ribbon-tab, click Recipe. 2 On the ribbon-tab, click Flow. xx1800001721 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 299 4 Working with PickMaster PowerPac 4.5 Ghost Picking Continued The Create Sim Flow window is opened. xx1800001722 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 300 4 Click Add Item in the Item/Container tab to add an item for the flow. 5 Click to open the Flow Properties window. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 301 Use this procedure to select a ghost picking flow: 1 Right-click on one Recipe in the tree view Cell and select Setting. xx1800001727 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 302 2 Click on the Pick Operation1 to open the setting window for the pick operation. 3 In the Select Flow under Main Setting, select Flow1 in the drop down list. xx1800001729 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 303 5 If needed, select the Vision in the Source Type. 6 Select Distance in the Trigger/Filter Setting tab. xx1800001731 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 304 Use this procedure to run a ghost picking flow: 1 On the PickMaster PowerPac ribbon-tab, click Production. xx1800001737 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 305 If the Loop checkbox is not selected, the ghost picking will send the recorded position data to the real controller for just one time and stopped automatically. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 306 4 Click the Start icon to start the ghost picking in the production. xx1800001741 5 Click the Stop icon to stop the ghost picking in the production. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 307: Production Examples
Action Note/Illustration Double click to open the PickMaster PowerPac. xx1900000470 Click the New to create a new solution. xx1800000840 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 308 (mm) text box and (180,0,0) in the Orient- ation (deg) text box. xx1900000472 Click OK to finish the adding of the con- troller. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 309 Click OK to finish the adding of the grip- per. Adding the conveyor Action Note/Illustration On the ribbon-tab, click Conveyor under Layout. xx1800000855 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 310 Conveyor Name text box. In the Conveyor window, select the type as "Linear" in the Conveyor Type drop- down list. xx1900000655 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 311 Click OK to finish the adding of the con- veyor. xx1900000656 Adding the sensor Action Note/Illustration On the ribbon-tab, click Sensor under Layout. xx1800001411 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 312 Click OK to finish the adding of the sensor. xx1900000657 Adding the work area Action Note/Illustration On the ribbon-tab, click Workarea under Layout. xx1800001417 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 313 Click OK to finish the adding of the linear 1 conveyor work area. xx1900000658 On the ribbon-tab, click Workarea under Layout. xx1800001417 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 314 (50, 5). xx1900000660 In the Color part under Item Properties, define the item's color as RGB (255,128,128). xx1900000485 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 315 Use the default settings in the Container Properties. xx1900000491 Click on the Container Pattern tab. Click Add layer. xx1900000492 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 316 Click OK to finish the adding of the con- tainer. Adding the recipe Action Note/Illustration On the ribbon-tab, click Recipe under Recipe. xx1800001438 xx1900000505 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 317 Click to select the PContainer1 in Avail- able Objects. Click to select the LinearWA2Available Workareas in Available Workareas. xx1900000663 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 318 Click OK to finish the adding of the re- cipe. xx1900000665 Calibration Action Note/Illustration On the ribbon-tab, click Calibration under Simulation. xx1900000520 The Calibration runs automatically. xx1900000666 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 319 A default admin user, with full access, is provided with the following credentials: • User: admin • Password: password Click OK. xx1800001388 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 320 Click OK to apply the configuration. xx1800001715 Click Close to close the Edit Controller dialog. xx1800001713 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 321 Enter the required data into the I/O signal setting table. Click OK to close the Recipe setting window. xx1900000668 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 322 Click OK to close the Recipe setting window. xx1900000669 Right-click the Test1 in the tree view Sensor and select Configuration. xx1900000670 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 323 Click OK to finish the configuration of the camera. Right-click the Test1 in the tree view Sensor and select Calibrate. xx1900000529 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 324 10.0 mm. Enter an ap- propriate name for the calibration. xx1800001701 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 325 In the Calibration part, click Calibrate to start calibration. xx1900000647 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 326 Acquire to get one new image. To use an image from file or save the current image, click Import or Export. xx1900000649 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 327 Click to select the Recipe in the tree view Cell. xx1800001716 On the Production ribbon-tab, click Pro- duction. xx1800001717 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 328 Click to select Recipe in the Recipe Status and click triangle mark (Start) to run the production. xx1800001719 Click Stop to stop the production. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 329: Example: One Pick From Indexed Work Area And One Place Work Area
Deleting the linear conveyor from the solution Action Note/Illustration Right click on the Recipe under Recipes in the tree view browser and click Delete. xx1900000532 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 330 The linear WA1 is for the picking opera- tion. Click Yes in the pop-up window to delete the Linear WA1. xx1900000535 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 331 Orientation (deg) text boxes to define the location of the conveyor. xx1900000539 Click OK to finish the adding of the in- dexed work area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 332 In the Associated Conveyor under Main Setting, select IndexWA in the drop down list. xx1900000540 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 333 In the Trigger/Filter Setting tab, click to select the Distance radio button. In the Trigger/Filter Setting tab, define the Trigger Distance as 300 mm. xx1900000544 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 334 Right-click on one Linear WA2 in the tree view Cell and select Setting. xx1900000673 Select the Customized Settings in the Signal Type tab. xx1800001735 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 335 Enter the required data into the I/O signal setting table. xx1900000675 Click OK to close the Recipe setting window. Production For detail procedure on production, see Production on page 327. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 336: Example: Mixing One Pick Work Area And Two Place Work Areas
Adding the gripper on page 309. Adding the conveyor Action Note/Illustration On the ribbon-tab, click Conveyor under Layout. xx1800000855 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 337 Conveyor Name text box. In the Conveyor window, select the type as "Linear" in the Conveyor Type drop- down list. xx1900000476 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 338 Click OK to finish the adding of the con- veyor. Adding the sensor For detail procedure in adding the controller, see Adding the sensor on page 311. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 339 Click OK to finish the adding of the circu- lar conveyor work area. On the ribbon-tab, click Workarea under Layout. xx1800001417 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 340 In the Workarea Type radio box, select the "Place" option. xx1900000483 Click OK to finish the adding of the linear 2 conveyor work area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 341 The Accepted Type defines the class of different items. xx1900000486 In the Source Type under Item Source, select the Vision radio box. xx1900000487 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 342 In the Rapid Properties part under Item Properties, define the item's Accepted Type as "2". The Accepted Type defines the class of different items. xx1900000490 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 343 Use the default settings in the Container Properties. xx1900000491 Click on the Container Pattern tab. Click Add layer. xx1900000492 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 344 Click OK to finish the adding of the con- tainer. On the ribbon-tab, click Container under Recipe. xx1800001433 Use the default settings in the Container Properties. xx1900000495 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 345 (100,100,0,0,1) in the Selected Item(s) text box. xx1900000498 Click OK to finish the adding of the new layer. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 346 Item1 and Item2 to this flow. xx1900000500 Click Edit Layout button on the right corner of Flow Properties tab. xx1900000501 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 347 Click OK to finish the editing layout. Click OK to finish the adding of the flow. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 348 PROC PickPlaceSeq() Pick PickWorkArea{1}; IF PickTarget.Type = 1 THEN Place PlaceWorkArea{1}; ELSEIF PickTarget.Type = 2 THEN Place PlaceWorkArea{2}; ENDIF ENDPROC Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 349 Setting, click on Item1 in the Available Items and drag CircularWA from the Available distributors list to the Distribu- tion Accept list. xx1900000512 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 350 Setting, click on Item1 in the Available Items and drag LinearWA1 from the Available distributors list to the Distribu- tion Accept list. xx1900000516 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 351 319. Select the real controller. For more details, see Switching to Online environment and configuration on page 319. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 352 Click OK to close the Recipe setting window. Right-click on one LinearWA1 in the tree view Cell and select Setting. xx1900000524 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 353 Click OK to close the Recipe setting window. Right-click the Test1 in the tree view Sensor and select Configuration. xx1900000528 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 354 Click OK to finish the configuration of the camera. Right-click the Test1 in the tree view Sensor and select Calibration. xx1900000529 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 355 10.0 mm. Enter an ap- propriate name for the calibration. xx1800001701 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 356 In the Calibration part, click Calibrate to start calibration. xx1900000647 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 357 Acquire to get one new image. To use an image from file or save the current image, click Import or Export. xx1900000649 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 358 Click Ok to close and save the Item1 setting. Right-click on the Item2 in the tree view Cell and select Setting. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 359 Import or Export. xx1900000649 Click Define to finish the train. xx1900000650 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 360 Click OK to close and save the PatMax model. Click Ok to close and save the Item2 setting. Production For detail procedure on production, see Production on page 327. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 361: Rapid Reference
If combined with Acknowledge = TRUE, skip will have no effect. If Skip is set to FALSE the itmtgt will either be considered as handled by the robot (when Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 362 [\Type ':=' ] <expression (IN) of num>; Related information For information about The data type itmtgt itmtgt - Item target data on page 384. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 363: Flushitmsrc - Flush An Item Source
To avoid potential problems, this instruction should be executed only when the last item target definitely has been acknowledged. Syntax FlushItmSrc [ItemSource ':=' ] <variable (VAR) of itmsrc>; Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 364: Getitmtgt - Get The Next Item Target
In the example graphic below, the sorting is in positive x-direction, negative y-direction, and operating on two different object types. The two object types should Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 365 The maximum waiting time permitted, expressed in seconds. If this time runs out before the item target is retrieved and no TimeOut flag is given, the error handler Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 366 Specifies minimum value for itmtgt parameter Val2. The instruction waits until an item target fulfilling this condition is available for execution. [\Val2Max] Data type: num Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 367 The CheckBoundry distance defines the required clearance distance Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 368 [\Val4Max ':=' ] <expression (IN) of num> [\Val5Min ':=' ] <expression (IN) of num> [\Val5Max ':=' ] <expression (IN) of num>; Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 369 384. The data type selectiondata selectiondata - Selection data on page 387. The data type sortdata sortdata - Sort data on page 390. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 370: Nextitmtgttype - Get The Type Of The Next Item Target
This argument is only used if the MaxTime argument is used. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 371 [\TimeFlag ':=' ] <var or pers (INOUT) of bool>; Related information For information about The data type itmtgt itmtgt - Item target data on page 384. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 372: Qstartitmsrc - Start Queue In Item Source
[ItemSource ':=' ] <variable (VAR) of itmsrc>; Related information For information about The instruction QStopItmSrc QStopItmSrc - Stop queue in item source on page 373. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 373: Qstopitmsrc - Stop Queue In Item Source
[ItemSource ':=' ] <variable (VAR) of itmsrc>; Related information For information about The instruction QStartItmSrc QStartItmSrc - Start queue in item source on page 372. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 374: Resetflowcount - Reset Flow Counter
ResetFlowCount[ItemSource ':=' ] <variable (VAR) of itmsrc>; Related information For information about The function GetFlowCount GetFlowCount - Get number of passed items on page 383. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 375: Resetmaxusagetime - Reset Max Measured Usage Time
The following recoverable errors are generated. They are handled in an error handler. The system variable ERRNO will be set to: The itmsrc is undefined. ERR_ITMSRC_UNDEF Syntax ResetMaxUsageTime[ItemSource ':=' ] <variable (VAR) of itmsrc>; Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 376: Usereachabletargets - Use Reachable Targets
0.7 seconds after being received with GetItmTgt. Targets become available for use 0.1 second Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 377 Syntax UseReachableTargets [ItemSource ':=' ] <variable (VAR) of itmsrc>, [Enable ':=' ] <var or pers (IN) of bool> Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 378 A work around to avoid the outside reach errors is to put an extra check on the Y-value of the itemtarget before moving towards it. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 379: Functions
The itmsrc is undefined. ERR_ITMSRC_UNDEF Syntax GetMaxUsageTime '('[ItemSource ':=' ] <variable (VAR) of itmsrc> ')'; This function returns the value of the data in num type. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 380: Getqueuelevel - Get Queue Level
The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: Error code Description itmsrc undefined ERR_ITMSRC_UNDEF Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 381 [\MinLimit ':=' ] <expression (IN) of num> [\MaxLimit ':=' ] <expression (IN) of num>; A function with a return value of the data type num. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 382: Getqueuetoplevel - Get Queue Top Level
ERR_ITMSRC_UNDEF Syntax GetQueueTopLevel '(' [ItemSource ':=' ] <variable (VAR) of itmsrc> ')'; A function with a return value of the data type num. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 383: Getflowcount - Get Number Of Passed Items
A function returns value of the data type num. Related information For information about The instruction ResetFlowCount ResetFlowCount - Reset flow counter on page 374. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 384: Data Types
Optional. Can be used to carry additional item specific information, for example, from a user hook. It is of data type float. val4 Data type: num Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 385 <extax of extjoint> <eax_a of num> <eax_b of num> <eax_c of num> <eax_d of num> <eax_e of num> <eax_f of num> Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 386 Configuration of external axes Technical reference manual - System para- meters What is a quaternion? Technical reference manual - RAPID Over- view Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 387: Selectiondata - Selection Data
A BOX shape is defined by the x, y, and z-values. • A CYLINDER shape is defined by the radius value and the height is defined by the z-value. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 388 <Offset of offsetdata> <OffsetRelation of offsetreltype> <OffsetPose of pose> <trans of pos> <x of num> <y of num> <z of num> Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 389 What is a quaternion? Technical reference manual - RAPID Over- view. Example using selectiondata Example: Selecting item depending on clearance zone on page 412. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 390: Sortdata - Sort Data
Examples VAR sortdata y_sort:=[NEG_Y_SORT_TYPE ,78, 52]; Structure <dataobject of sortdata> <SortType of sorttype> <CheckBoundary of num> <SortDirOffset of num> Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 391: Rapid Program
For every cycle, the default RAPID program performs: • a pick on a pick work area. • a place on a place work area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 392 The robot TCP is coordinated relative to the conveyor during the pick time entered in the Work Area Properties dialog. The TCP follows the pick target during the pick time. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 393 PickMaster. PPAEXECUTING Handles the pick and place operations. Customize this module for your purposes. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 394 6 RAPID reference 6.4.1 RAPID programs Continued System modules An ABB robot controller with the RobotWare option PickMaster Ready will always contain the loaded system modules ppaBase (crypted) and ppaUser (open). Module Description ppaBase Contains variables for communication with PickMaster, event routines and routines for creating, initiating, and deleting item sources.
Page 395 Unconditional path clearing The AlwaysClearPath (bool always) routine unconditionally clears the path before the restart, if the input parameter value is set to TRUE. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 396: Variables
Highest speed used for movements. TASK PERS speeddata LowSpeed:=[…] Low speed used for movements. TASK PERS speeddata VeryLowSpeed:=[…] Lowest speed used for movements. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 397 TASK PERS robtarget IntPosPlaceX:=[…] Defined intermediate position for every place work area robot. Edit this robtarget to fit each work area. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 398 It is important that correct loaddata is used to get the best performance of the robot. The default loaddata is the same as tooldataload0. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 399: Routines
When the project is stopped or paused this routine will be called either from the SafeStopTrap routine or the PickPlace routine. The slow motion to the safe position is called from this routine. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 400 Following are the hidden routines in the ppaBase module. PROC ResetEvent() Resets some variables. This routine is only executed in the RESET system event shelf. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 401 Increments the pick calculation. PROC ppaDropWobj(PERS wobjdata Wobj) Encapsulates the DropWobj instruction. See Application manual - Conveyor tracking for more information Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 402 It prints the file TheData.log on the system directory on the controller. TRAP PickRateTrap Trap routine to calculate the correct pick rate for the robot. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 403: Service Routines
All service variable names must be set in a ServiceVarX. The service variables can only be of type num. Maximum number of service variables is ten. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 404: Program Examples
3 Place on out work area Example code PROC PickPlaceSeq() Pick PickWorkArea{1}; IF PickTarget.Type = 1 THEN Place PlaceWorkArea{1}; ELSEIF PickTarget.Type = 2 THEN Place PlaceWorkArea{2}; ENDIF ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 405: Example: Mixing Two Pick Work Areas And One Place Work Area
VAR num PlaceType:=0; NextItmTgtType ItmSrcData{PlaceWorkArea{1}}.ItemSource, PlaceType; IF PlaceType = 1 THEN Pick PickWorkArea{1}; ELSEIF PlaceType = 2 THEN Pick PickWorkArea{2}; ENDIF Place PlaceWorkArea{1}; ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 406: Example: Mixing With One Pick And One Place Work Area
ItmSrcData{Index}.VacuumAct1, z20, PickAct1 \WObj:=WObjPick; MoveL \Conc, PickTarget.RobTgt, LowSpeed, z5 \Inpos:= ItmSrcData{Index}.TrackPoint, PickAct1 \WObj:=WObjPick; GripLoad ItemLoad; TriggL RelTool(PickTarget.RobTgt, 0, 0, -ItmSrcData{Index}.OffsZ), LowSpeed, ItmSrcData{Index}.Ack, z20, PickAct1 \WObj:=WObjPick; ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 407: Example: Double Pick Single Place
PROC Pick(num Index, num pickNo) IF Index > 0 THEN WObjPick:=ItmSrcData{Index}.Wobj; GetItmTgt ItmSrcData{Index}.ItemSource,PickTarget; IF pickNo = 1 THEN TriggL\Conc,RelTool(PickTarget.RobTgt,0,0, -ItmSrcData{Index}.OffsZ), Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 408 ! Needs to be changed if more than one activator is used. !*********************************************************** PROC Place(num Index) IF Index > 0 THEN WObjPlace:=ItmSrcData{Index}.Wobj; GetItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget; Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 409 The second bit of goVacBlowX shall overlap the signal doBlowX. 2 Update the SetTriggs routine. Enable the TriggEquip events VacuumAct3, VacuumOff3, VacuumAct4, and VacuumOff4 by removing the comments on these lines. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 410: Example: Placing A Predefined Pattern On Indexed Work Area
PROC Place(num Index) VAR bool flagplace:=TRUE; WObjPlace:=ItmSrcData{Index}.Wobj; flagplace:=TRUE; WHILE flagplace=TRUE DO GetItmTgt ItmSrcData{Index}.ItemSource, PlaceTarget\MaxTime:=1\TimeFlag:=flagplace; IF flagplace=TRUE THEN PulseDO\PLength:=0.2,doSIMPosGen; ENDIF ENDWHILE Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 411 ItmSrcData{Index}.OffsZ), MaxSpeed, z20, PickAct1\WObj:=WObjPlace; TriggL\Conc, PlaceTarget.RobTgt, LowSpeed, ItmSrcData{Index}.VacuumRev1 \T2:=ItmSrcData{Index}.VacuumOff1, z5 \Inpos:=ItmSrcData{Index}.TrackPoint, PickAct1\WObj:=WObjPlace; GripLoad load0; TriggL RelTool(PlaceTarget.RobTgt, 0, 0, ItmSrcData{Index}.OffsZ), LowSpeed, ItmSrcData{Index}.Ack, z20, PickAct1\WObj:=WObjPlace; ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 412: Example: Selecting Item Depending On Clearance Zone
Item 4 can be picked because no other item is its selection shape. • Item 3 will be picked after item 4 is no longer present. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 413 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 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 414 ItmSrcData{Index}.VacuumAct1, z20, PickAct1\WObj:=WObjPick; MoveL \Conc, PickTarget.RobTgt, LowSpeed, z5 \Inpos:= ItmSrcData{Index}.TrackPoint, PickAct1\WObj:=WObjPick; GripLoad ItemLoad; TriggL RelTool(PickTarget.RobTgt, 0, 0, -ItmSrcData{Index}.OffsZ), LowSpeed, ItmSrcData{Index}.Ack, z20, PickAct1\WObj:=WObjPick; ENDPROC Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 415: Example: Sorting In Negative Y-Direction
In the illustration below, all items will be shuffled off to the right side of the conveyor belt. Because each item needs a clear zone, that is the shape of the ShapeType, Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 416 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; Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 417 -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 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 418: Example: Indexed Work Area With Predefined Position
If a pattern is used, several positions are sent for every signal. In this example the robot execution signal is not used and was therefore removed. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 419: Example: Automatically Generating New Positions To Indexed Work Area
This cross connection will make diPosGenSignal go high and new positions will be pushed to the queue according to the earlier described principles. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 420 This page is intentionally left blank...
Page 421: Troubleshooting
Generic troubleshooting and all error messages in the robot system are listed in Operating manual - Troubleshooting IRC5. Administering the log on page 423. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 422: Safety During Troubleshooting
DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B...
Page 423: Administering The Log
3 If you need to view the event log without the PickMaster PowerPac, select Save. The event log will be saved as xlsx file. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 424: Fault Symptoms Or Errors
Sometimes the frequent triggering can be caused by faulty trigger/strobe wiring or electrical noise. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 425 Action 1 on page 424, Action 2 on page 424 PickMaster has no connection with the camera. Action 4 on page 424 Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 426 Action 9 on page 425 The external sensor does not send positions with a correct time Action 8 on page 425 stamp.. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 427 The following table provides the probable causes of the warning 4328 and 4329: Probable cause Verfication actions The strobe signal is not stable. Action 2 on page 424 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 428: The Camera Does Not Take Pictures
If the camera is I/O trigged, the photo eye might not be sensing any part, due to: • Wrong connection. • Bad reflection. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 429: Robot Does Not Move
Monitor the signal Queue Idle, to see if the queue gets any positions. • Monitor the Position Available signal, to see if the parts are detected. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 430: Bad Or Varying Position Accuracy
Check if there are parallax errors when identifying high products. • Make sure that the camera is not mounted on robot frame because this can cause camera vibrations. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 431: Positions Are Used Twice
If a robot downstream in an ATC group tries to use an already used item, then the Work Area order in the Position Source is incorrect. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 432: Problem With Camera Resolution In Pickmaster
Is the factory default configuration is active. • There could be custom configuration activated. Verify if the custom configuration is having reduced ROI (region of interest). Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 433: Error Codes
The old line will not show up as an available line and projects designed on that line cannot be used. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 434 When starting a project, a predefined position source has no object defined. Solution: Edit the position source and define the predefined object to use. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 435 424. 4396 Error A COM error occurred in when using an External Sensor. The log message provides more information. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 436 Reason: PickMaster Time Synchronization Service is not in- stalled. 4812 Error Cannot stop PickMaster Time Synchronization Service. 4813 Error Cannot start PickMaster Time Synchronization Service. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 437 Reason: An attempt was made to access a robot controller that was not configured to be used in the project. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 438 Failed to get the robot controller states. Solution: Ensure that the controller is up and running OK. If not, reboot the controller. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 439 Reason: The network set-up is not correct (e.g. wrong IP settings, faulty network adapter configuration, etc.). Solution: Solve the local network problem on the computer. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 440 Not connected to controller. Reason: The communication with the controller could not be completed. 8339 Error Unexpected error when using ABB Industrial Robot Commu- nication Runtime to communicate with controller. Reason: See error log for more information. 8340 Error Unexpected robot error.
Page 441 Item source failed to send positions to the controller. No re- sponse from the controller. 8343 Error The RobotWare version is later than the ABB Industrial Robot Communication Runtime on the PC. The Communication Runtime needs to be updated. Solution: If possible update PickMaster to the latest version.
Page 442 Reason: See log message for more information 12318 Error Failed to convert image to a format supported by external vision model. Continues on next page Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 443 If the problem persits, check network connections. 12341 Status Cognex USB License dongle is attached. 12342 Warning Cognex USB License dongle is removed. Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
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Page 445: Spare Parts
The dongle can be connected to any USB interface on host computer. GigE Network card parts Spare part list Spare part number Description Type 3HAC069300-001 GigE network card Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 446 This page is intentionally left blank...
Page 447: Circuit Diagram
Circuit diagram - Euromap 3HAC024120-004 Circuit diagram - Spot welding cabinet 3HAC057185-001 RobotWare options Product Article numbers for circuit diagrams Circuit diagram - PickMaster Twin 3HAC024480-020 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 448 This page is intentionally left blank...
Page 449: Index
61 grip locations, 162 histogram sub inspection model, 272 description, 289 inspection models, 264 networks, 39 description, 289 vision network, 40 connecting Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 450 44 sortdata, data type, 390 offline simulation sourcedata, 394 definition, 15 standards IEEE 1588, 28 StartSig, 37 pausing strobe signal, 94, 97, 100 Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 451 28 white balance trigger signal, 94, 97, 100 calibrating, 291 troubleshooting, 421 work area definition, 15 UDP/IP, 28 zoom, 244 vision Application manual - PickMaster® Twin - PowerPac 3HAC064218-001 Revision: B © Copyright 2021 ABB. All rights reserved.
Page 454 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2021 ABB. All rights reserved. Specifications subject to change without notice.

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Pickmaster twin

ABB PickMaster Twin - PowerPac Applications Manual

1 Welcome to Pickmaster Powerpac

2 Installation

3 Navigating Pickmaster Powerpac

4 Working with Pickmaster Powerpac

5 Production Examples

6 RAPID Reference

7 Troubleshooting

8 Spare Parts

9 Circuit Diagram

Index

Quick Links

Troubleshooting

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Table of Contents