ABB PickMaster Twin - PowerPac Applications Manual

PDF

เอกสาร

โฆษณา

ROBOTICS

Application manual

PickMaster

®

Twin - PowerPac

Trace back information:

Workspace Main version a394

Checked in 2021-03-25

Skribenta version 5.4.005

Application manual

PickMaster

®

Twin - PowerPac

IRC5 and OmniCore

Document ID: 3HAC064218-001

Revision: B

Specifications subject to change without notice.

The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual.

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.

In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's written permission.

Keep for future reference.

Additional copies of this manual may be obtained from ABB.

Original instructions.

Specifications subject to change without notice.

Table of contents

Overview of this manual ...................................................................................................................

1 Welcome to PickMaster PowerPac

1.1

Introduction ......................................................................................................

1.2

PickMaster PowerPac terms ................................................................................

2 Installation

2.1

PickMaster package ..........................................................................................

2.2

System requirements .........................................................................................

2.2.1

Hardware and software requirements ..........................................................

2.2.2

Ethernet switch .......................................................................................

2.2.3

Vision system .........................................................................................

2.2.4

Camera requirements ..............................................................................

2.3

PickMaster PowerPac license ..............................................................................

2.4

PickMaster time synchronization service ...............................................................

2.5

Software installation ..........................................................................................

2.5.1

Installing RobotStudio ..............................................................................

2.5.2

Installing PickMaster Twin Client ................................................................

2.6

Electrical connection ..........................................................................................

2.6.1

PickMaster ® Twin Hardware connection illustration ......................................

2.6.2

Connecting cameras ................................................................................

2.6.3

Connecting I/O signals .............................................................................

2.6.4

Configuring networks ...............................................................................

2.6.5

Setting up robot controller ........................................................................

2.6.6

Optional robot and process configuration ....................................................

2.6.7

Six axes robot configuration ......................................................................

3 Navigating PickMaster PowerPac

3.1

Start page ........................................................................................................

3.2

Main window ....................................................................................................

3.3

Ribbon tab .......................................................................................................

3.3.1

Introduction ............................................................................................

3.4

Tree view browser .............................................................................................

3.4.1

Cell .......................................................................................................

3.5

Status view ......................................................................................................

4 Working with PickMaster PowerPac 69

4.1

Overview .........................................................................................................

4.2

Setting up Solution and Recipe in virtual Runtime (VRT) ...........................................

4.2.1

Creating Solution ....................................................................................

4.2.2

Adding Controller ....................................................................................

4.2.3

Adding Gripper .......................................................................................

4.2.4

Adding Conveyor ....................................................................................

4.2.5

Adding Sensor ........................................................................................

4.2.6

Adding work area ....................................................................................

4.2.7

Adding Item ...........................................................................................

4.2.8

Adding Container ....................................................................................

4.2.9

Adding Recipe ........................................................................................

4.2.10 Adding Flow ...........................................................................................

4.2.11 Calibration .............................................................................................

4.2.12 Simulation .............................................................................................

4.3

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

Table of contents

4.3.4

Calibrating linear conveyor .......................................................................

4.3.4.1 Defining the parameter Counts Per Meter (DSQC 377) ........................

4.3.4.2 Defining the parameter Counts Per Meter (DSQC 2000) ......................

4.3.4.3 Defining the base frame (IRC5) ......................................................

4.3.4.4 Defining the base frame (OmniCore) ...............................................

4.3.5

Calibrating circular conveyor .....................................................................

4.3.5.1 Defining the parameter Counts Per Meter (DSQC 377) ........................

4.3.5.2 Defining the parameter Counts Per Meter (DSQC 2000) ......................

4.3.5.3 Defining the base frame (IRC5) ......................................................

4.3.5.4 Type configuration for circular conveyor ..........................................

4.3.6

Calibrating indexed work area ...................................................................

4.3.7

Verifying conveyor calibrations ..................................................................

4.3.8

Calibrating camera ..................................................................................

4.3.8.1 Showing live images ....................................................................

4.3.8.2 Detailed vision information ............................................................

4.3.8.3 The image windows .....................................................................

4.3.9

Adding vision model ................................................................................

4.3.9.1 Vision modeling ..........................................................................

4.3.9.2 Configuring a geometric model with PatMax .....................................

4.3.9.3 Configuring blob models ...............................................................

4.3.9.4 Configuring inspection models .......................................................

4.3.10 Starting production ..................................................................................

4.3.11 Managing the robot in production ...............................................................

4.4

Using color vision ..............................................................................................

4.5

Ghost Picking ...................................................................................................

5 Production examples 307

5.1

Example: One pick work area and one place work area ............................................

5.2

Example: One pick from indexed work area and one place work area ..........................

5.3

Example: Mixing one pick work area and two place work areas ..................................

307

329

336

6 RAPID reference 361

6.1

Instructions ......................................................................................................

6.1.1

AckItmTgt - Acknowledge an item target ......................................................

6.1.2

FlushItmSrc - Flush an item source .............................................................

6.1.3

GetItmTgt - Get the next item target ............................................................

6.1.4

NextItmTgtType - Get the type of the next item target .....................................

6.1.5

QStartItmSrc - Start queue in item source ....................................................

6.1.6

QStopItmSrc - Stop queue in item source ....................................................

6.1.7

ResetFlowCount - Reset flow counter .........................................................

6.1.8

ResetMaxUsageTime - Reset max measured usage time ................................

6.1.9

UseReachableTargets - Use reachable targets ..............................................

6.2

Functions ........................................................................................................

6.2.1

GetMaxUsageTime - Get max measured usage time ......................................

6.2.2

GetQueueLevel - Get queue level ...............................................................

6.2.3

GetQueueTopLevel - Get queue top level ....................................................

6.2.4

GetFlowCount - Get number of passed items ...............................................

6.3

Data types .......................................................................................................

6.3.1

itmtgt - Item target data ............................................................................

6.3.2

selectiondata - Selection data ....................................................................

6.3.3

sortdata - Sort data ..................................................................................

6.4

RAPID program ................................................................................................

6.4.1

RAPID programs .....................................................................................

6.4.2

Variables ...............................................................................................

6.4.3

Routines ................................................................................................

6.4.4

Service routines ......................................................................................

6.5

Program examples ............................................................................................

6.5.1

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 ........................

6 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Table of contents

6.5.3

Example: Mixing with one pick and one place work area .................................

6.5.4

Example: Double pick single place .............................................................

6.5.5

Example: Placing a predefined pattern on indexed work area ..........................

6.5.6

Example: Selecting item depending on clearance zone ..................................

6.5.7

Example: Sorting in negative y-direction ......................................................

6.5.8

Example: Indexed work area with predefined position ....................................

6.5.9

Example: Automatically generating new positions to indexed work area ............

7 Troubleshooting 421

7.1

Introduction to troubleshooting ............................................................................

7.2

Safety during troubleshooting ..............................................................................

7.3

Administering the log .........................................................................................

7.4

Fault symptoms or errors ....................................................................................

7.4.1

Warnings 4326 - 4329 ..............................................................................

7.4.2

The camera does not take pictures .............................................................

7.4.3

Robot does not move ...............................................................................

7.4.4

Bad or varying position accuracy ...............................................................

7.4.5

Positions are used twice ...........................................................................

7.4.6

Problem with camera resolution in PickMaster ..............................................

7.5

Error codes ......................................................................................................

8 Spare parts 445

9 Circuit diagram 447

9.1

Circuit diagrams ................................................................................................

447

Index 449

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

This page is intentionally left blank

Overview of this manual

Overview of this manual

About this manual

This manual contains instructions for installation, configuration, and operation of

PickMaster PowerPac.

Usage

Who should read this manual?

This manual is intended for:

• Installation personnel

• Programmers

• Integrators

• Operators

Prerequisites

This manual should be used during installation, configuration, and maintenance of a PickMaster system.

PickMaster PowerPac is intended for use as an engineering tool on a portable laptop PC for offline use and online connection to a host computer in the installation for commissioning purposes. PickMaster PowerPac is not intended for use on the host computer under production conditions.

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

Note

All safety information for working with the controller is described in the product manual for the controller.

This product is designed to be connected to and to communicate information and data via a network interface. It is your sole responsibility to provide, and continuously ensure, a secure connection between the product and to your network or any other network (as the case may be).

You shall establish and maintain any appropriate measures (such as, but not limited to, the installation of firewalls, application of authentication measures, encryption of data, installation of anti-virus programs, etc) to protect the product, the network, its system and the interface against any kind of security breaches, unauthorized access, interference, intrusion, leakage and/or theft of data or information. ABB

Ltd and its entities are not liable for damage and/or loss related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.

Continues on next page

9 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Overview of this manual

Continued

References

Tip

All documents can be found via myABB Business Portal, www.abb.com/myABB .

OmniCore

Reference

Product specification - PickMaster Twin

Document ID

3HAC073650-001

Circuit diagram - PickMaster Twin

Application manual - PickMaster Twin - Operator

3HAC024480-020

3HAC069977-001

3HAC031045-001 Safety manual for robot - Manipulator and IRC5 or OmniCore controller i

Product manual - OmniCore C30

Operating manual - OmniCore

Application manual - Controller software OmniCore

3HAC060860-001

3HAC065036-001

3HAC066554-001

Technical reference manual - Lubrication in gearboxes 3HAC042927-001 i

Technical reference manual - System parameters 3HAC065041-001

This manual contains all safety instructions from the product manuals for the manipulators and the controllers.

External references

Reference

Cognex Ethernet Camera Tool

Gigabit Ethernet Performance Driver aca1440-73gc sca1300-32gc

CognexPCConfigGuide

Description

For configuring camera networks.

For camera communication.

Information about Basler Ace Gigabit Ethernet cameras and the switch for Gigabit Ethernet cameras.

Information about Basler Scout Gigabit Ethernet cameras and the switch for Gigabit

Ethernet cameras.

Detailed information about PC requirements for the vision system.

Revisions

Revision

Description

First edition.

Continues on next page

10 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Revision

Overview of this manual

Continued

Description

Published in release 21A. The following updates are made in this revision:

• Added information on supporting OmniCore controller.

• Added description of accounts management and http protocol safety issue.

• Minor corrections.

• Added a note on refreshing the controller system list when adding a controller in PickMaster PowerPac.

• Added notes for real Runtime connection.

• Added description for new time sync service.

• Added note for RW7.2 about the firewall settings on WAN.

• Updated Job Tab option to Recipe .

• Added a note that the PickMaster 3 and PickMaster Twin are not recommended to be installed on a same PC.

• Updated the operation of editing users in PickMaster PowerPac.

• Updated the definition of Adjustment speed in section

Six axes robot configuration on page 44 .

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

This page is intentionally left blank

1 Welcome to PickMaster PowerPac

1.1 Introduction

1 Welcome to PickMaster PowerPac

1.1 Introduction

About PickMaster

Twin

PickMaster® Twin is an application product designed for vision based high speed picking of random flow products on the fly. PickMaster® Twin supports ease-of use configuration, simulation and operation of a big variation of smaller or larger line layouts composed of a multitude of robots, cameras, conveyors and fixed work areas. It comprises all steps in the life cycle of a picking installation from proposal, engineering, commissioning, operation to maintenance and support.

PickMaster PowerPac can be customized for some of the following special needs:

• With the integrated vision it can be used for full random operation on a continuously moving conveyors and for absolute accurate positioning on indexed feeders or trays.

• Without vision recognition it can be used as a tool for the efficient production with guided product flows on multiple conveyors.

• 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. PickMaster PowerPac is the engineering software aimed at configuring and validating the application in offline simulation with a virtual system and in online mode directly connected to the real installation. It uses comprehensive graphical interfaces to configure powerful applications, where it can control multiple robots picking and placing sensor-detected items on different conveying belts.

xx1900001745

PickMaster Twin comprises the following modules:

PickMaster

PowerPac

Ease of Use software for offline and online configuration and commissioning in a visual 3D environment, powered by RobotStudio™.

Continues on next page

13 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

1 Welcome to PickMaster PowerPac

1.1 Introduction

Continued

PickMaster

Operator

State-of-the art user interface for operating PickMaster on the shop floor, built on

ABB’s Ability™ Zenon data management software.

PickMaster

Runtime

Efficient runtime operation software for orchestrating the coordination of the packaging process for a multitude of robots and conveyors including integrated vision software for precise robot guidance and quality inspection.

• Virtual Runtime: running the PickMaster process in a simulated virtual environment on a client system connected to virtual robot controllers.

• Real Runtime: running the PickMaster process in the real production installation on the host computer.

The following illustration is showing an installation example with 10 robots, 4 cameras and 3 conveyors.

Cameras

Multi touch operation panel

Cell/Line

PLC

GigE

NIC board

Win10 IoT

PickMaster RT

Operator

Zenon

Conveyors

Modbus

Profinet

…

PCIE Encoders

CTM

Win10

PowerPac

RobotStudio

Ethernet

Robots & Robot Controllers xx1900001746

Note

PickMaster® Twin is delivered with different hardware configurations. For more information, see Product specification - PickMaster Twin .

Note

Http protocol is uesd between PickMaster

® and PickMaster

PowerPac/PickMaster

Operator

Runtime. This could be unsafe if the user has specific safety rules. Please take necessary measurements to protect your information.

About PickMaster PowerPac

This manual describes how to install and use PickMaster PowerPac as the engineering software in two modes:

• Configuring and validating the application in offline simulation with a virtual system.

• 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.

14 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

1 Welcome to PickMaster PowerPac

1.2 PickMaster PowerPac terms

1.2 PickMaster PowerPac terms

About these terms

Some words have a specific meaning when used in this manual. Definitions of these words in this manual are listed below. Some of the terms are put in their context when describing a picking and placing process.

Term list

Words that have italic font style in the definition column are included in the term list and have their own definitions.

Term

PickMaster PowerPac

PickMaster Operator

PickMaster Virtual Runtime The core engine that does all the calculation of virtual pick and place operation.

PickMaster Runtime

The market name of PickMaster Tablet software that is used for configuration and simulation.

PickMaster Twin Client

The core engine that does all the calculation of pick and place operation.

It's also called as Runtime.

The installation package which contains PickMaster PowerPac,

PickMaster Virtual Runtime and PickMaster Runtime.

PickMaster Twin Host

Definition

The market name of PickMaster PC software that is used for configuration and simulation.

Work area

Circular Conveyor

Item

The installation package which contains PickMaster Operator and PickMaster Runtime.

A defined picking and placing areas for the robots.

A conveyor that is in a circular type.

Item source

Container

The generic term for a specific object to be picked or placed in a PickMaster PowerPac application.

Defines how to generate item positions and which work area to send them to.

Defines which patterns to use and what items to use for each position in the patterns.

Recipe

Emulation

Ghost picking

Offline Simulation

'Project' in PickMaster 3, a collection of parameters with regard to the process of Pick and Place.

An activity of imitating the behavior of real cell or line and display the activity on screen.

A kind of dry run, when production uses virtual item to pick, thus no real item to pick.

A kind of simulation process when connected to the virtual robot.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

This page is intentionally left blank

2 Installation

2.1 PickMaster package

2 Installation

2.1 PickMaster package

Concepts of using PickMaster Twin

PickMaster PowerPac is designed to be installed on a laptop computer that can host solutions for many different installations that can be connected for commissioning, new recipe introduction, maintenance and servicing purposes to the several physical installations, where each one of those have their own permanent host computer.

There are two software installation packages: PickMaster Twin Client for the portable engineering system and PickMaster Twin Host for the permanent factory system.

The Client installation does not require any physical equipment installations. All physical component installations, configurations and calibrations are doneon the host system.

PickMaster Twin Client

The installations package for PickMaster Twin offline configuration, simulation and testing is named as PickMaster Twin Client. It installs the following softwares:

• PickMaster PowerPac

• PickMaster Virtual Runtime

• PickMaster Real Runtime

Note

This package is only intended for engineering and not for the final factory production installation. The ability to switch to real runtime on the same computer is only intended for test purposes and it can be used for creating and editing vision models offline. 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.

Tip

The download center address is https://new.abb.com/products/robotics/application-software/pickmaster.

Note

The PickMaster software is available in 64-bit version.

Continues on next page

17 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.1 PickMaster package

Continued

When the PickMaster Twin Client is installed successfully, the user documentation for 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.

18 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.2.1 Hardware and software requirements

2.2 System requirements

2.2.1 Hardware and software requirements

Hardware requirements

Following are the hardware requirements

• A log on account with administrator rights on the computer.

• CPU: 2.0 GHz or faster processor. Multicore processor is recommended.

• Memory: 3 GB if running Windows 32-bit edition. 8 GB if running Windows

64 bit edition. 16 GB or more if working with heavy CAD models.

• Free disk space: 10+ GB free space, solid state drive (SSD) recommended.

• Graphics card: High-performance, DirectX 11 compatible, gaming graphics card from any of the leading vendors. For the Advanced lightning mode

Direct3D feature level 10_1 or higher is required.

• Display settings: 1920 x 1080 pixels or higher resolution is recommended.

• Dots per inch (DPI): Only Normal size supported for Integrated Vision.

• Mouse: Three-button mouse

• 3D Mouse (optional): Any 3D mouse from 3DConnexion. See http://www.3dconnexion.com.

Note

When running the software, close other software that consumes a lot of memory, otherwise it will affect the software normal use.

CAUTION

If robot movement can be initiated from an external control panel then an emergency stop must also be available.

Software 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

2 Installation

2.2.2 Ethernet switch

2.2.2 Ethernet switch

Overview

An Ethernet switch is used to connect the PC with multiple robot controllers. It is recommended to use an unmanaged industrial switch with a communication speed of 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.

20 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.2.3 Vision system

2.2.3 Vision system

Overview

Vision system requirements

The supported network card for Ethernet camera communication is Intel Pro/1000PT

Dual Port Server Adapter. Other network interface cards can work, but have not been tested.

A Cognex USB license is required for the Gigabit Ethernet vision system. The USB stick must be connected when Runtime is running.

The maximum number of cameras that can be used is ten.

Insert the vision network card in a free compatible PCI-express slot (PCI-express x4, x8, or x16).

Color vision

PickMaster PowerPac can acquire images and generate targets by using cameras that communicate over Ethernet. An Ethernet network (network interface card, cables, switches) is used for communication between the cameras and the Runtime

PC. Trigger/Strobe and power voltage is connected to a Hirose 12-pin/6-pin connector on the camera housing. Preferably the power voltage to the Ethernet camera is supplied from a separate source that is independent of the robot controller.

Color vision is available as a standard function and has the following features:

• connectivity for color cameras

• white balance calibration

• color filter configuration

Note

This allows you to define colour filters that will run as a prestep to PatMax and 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

2 Installation

2.2.4 Camera requirements

2.2.4 Camera requirements

Mounting

The cameras must be mounted in a very stable way to avoid vibration and other dynamic movement. The cameras can be mounted in any orientation to the image area.

Lighting

Even lighting of the image area is very important to obtain reliable results.

Other camera requirements

If the camera is mounted on a moving conveyor then it is necessary to have a progressive scan camera (non-interlaced).

We recommend using a camera that supports electronic shutter control. Then it is possible to set the exposure from PickMaster PowerPac, otherwise the exposure time must be manually set on the camera.

Camera configuration

Some cameras will need manual configuration to fulfill the above conditions. For detailed information about camera settings, see Cognex manual and PickMaster

Release Notes .

For specific information about Basler Gigabit Ethernet cameras, see

References on page 10 .

Recommendation for lenses

When planning a cell it is important to choose a suitable camera/lens setup that gives an appropriate field of view (FOV).

The FOV of a camera is determined by three factors:

• The distance between the camera and the scene.

• The focal length of the lens.

• 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

22 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.2.4 Camera requirements

Continued

The graphic below shows the geometry of the optical setup.

xx0900000550

D f

Sensor chip

Lens

Chip height (mm)

Chip width (mm)

Distance from lens to scene (mm)

Scene

Focal length of camera (mm)

Scene height (mm)

Scene width (mm)

To select a suitable lens, measure the distance between the camera and the items

(D), and the size of the image area (W*H).

To calculate the appropriate focal length of the lens:

• If the height of the image area is most important: f = (D/W)*Cw

• If the length of the image area is most important: f = (D/H)*Ch xx0900000565

The table below lists the width and height of some common sensor chip sizes, expressed in millimeters.

Sensor chip size (inch)

1/4"

1/3"

1/2"

2/3"

C h

(mm)

2.4

3.6

4.8

6.6

C w

(mm)

3.2

4.8

6.4

8.8

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

23 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.2.4 Camera requirements

Continued

Example: lens calculation

This example is based on a 1/2" sensor chip, such as the Basler Scout 1390-17gm.

• The FOV should cover a conveyor belt with a width of 500 mm.

• The minimum height of the FOV is not restricted.

• The distance between the camera and the conveyor is 800 mm.

• The camera is mounted with the belly facing the robot (PickMaster default).

Because the width of the conveyor determines the minimum FOV the required focal length is calculated using: f = (D/W)*Cw

Enter the known data, C w is 6.4mm (see graphic above).

f = (800/500)*6.4 = 10.24 mm

The resulting height H of the FOV is calculated as:

H = D*CH/f = 800*4.8/10.24 = 375 mm

Alternative with increased height

To increase the height of the FOV (H), the camera can be rotated 90° so that the height dimension of the sensor chip (4.8 mm) is aligned with the width dimension of the conveyor. The width dimension (6.4 mm) is aligned with the x-axis of the conveyor.

f = (800/500)*4.8 = 7.68 mm

The resulting height H of the FOV is now:

H = 800*6.4/7.68 = 666 mm

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.

24 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

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. It can also be activated separately from PickMaster

PowerPac, but still invokes the RS activation procedure.

PickMaster PowerPac license options

Two license options are available for PickMaster PowerPac, Basic and Premium.

Users can obtain the Basic option for free and work with limited functions. The

Premium option provides more functions for professional integrators and commissioners.

Comparison between license options

The following table lists the main application scenarios and differences between two license options.

RobotWare option

RobotStudio requirment

Runtime

Solution/layout

Recipe

Simulation

Basic

PickMaster cell ready

Unactivated

Real (default)

Adjust/Save

Create/Save

Offline simulation

Ghost picking/emulation

Premium

PickMaster cell ready

Activated

Virtual (default)

Create/Save

Offline simulation

Ghost picking/emulation

Information about the current license

Use the following procedure to get information about the current license.

Action

Start the Robotstudio 2019.

Click the File tab.

Click Options .

Click Licensing .

Click the View install license...

to get information about the current license.

Note

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

2 Installation

2.3 PickMaster PowerPac license

Continued

Activating a license key

Activating a license key automatically over the Internet

Use this procedure to activate a license key automatically over the Internet.

Action

To start the licencing application, either use:

• In the PickMaster PowerPac, on the Options menu, click Activate License .

Under Standalong License , choose I want to Activate a standalong license key and click Next .

Under Automatic Activation , choose Activate RobotStudio over the internet and click Next .

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.

Activating a license key manually

If the computer with PickMaster PowerPac installed does not have an Internet connection, you must activate the license manually. This is done in three steps:

1 Create a license request file (

*.licreqx

2 Download a license file ( *.bin

) using an Internet connected computer.

3 Install the license file ( *.bin

Use this procedure to activate a PickMaster PowerPac license manually.

Action

To start the licensing application either use:

• In the PickMaster PowerPac, on the Options menu, click Verify License .

In the licensing application, click PickMaster License Activation Wizard...

Under Automatic Activation , select Step 1: Create a license request file and click

Next .

Enter your 25 character Activation Key (xxxxx-xxxxx-xxxxx-xxxxx-xxxxx) and click

Next .

Click Save Request .

Type a name for a license request file (*.licreqx), browse to a suitable folder, and click

Save .

Click Finish .

Use a removable medium, such as a USB device, to transfer the license request file to a computer with an Internet connection.

On the computer with internet connection, start the internet browser, and go to the link http://www.manualactivation.e.abb.com/ and follow the instructions to activate your license manually. You are instructed to browse for the saved license request file.

The result will be a license file (*.bin) that you must save.

Transfer the license file to the PickMaster PowerPac PC.

On the PickMaster PowerPac computer, start the licensing application.

Under Automatic Activation , select Step 3: Install a license file (*.bin) and click Next .

Continues on next page

26 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.3 PickMaster PowerPac license

Continued

Action

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

2 Installation

2.4 PickMaster time synchronization service

2.4 PickMaster time synchronization service

Time synchronization service

PickMaster Twin uses a time synchronization service to synchronize the time between the robot controllers and the host PC running PickMaster. The synchronization is performed over the same network used for communication between PickMaster Runtime and the robot controllers.

Note

To enable the time synchronization service, the user should select the local IP address which is connected to the real controller during installing the PickMaster

Twin Client.

If the computer is not yet connected to a real controller, the IP address could also be configured after the installation.

Settings

The synchronization service is based on the precision time protocol (PTP), which in turn implements the IEEE 1588 standard. This protocol uses multicast messages over UDP/IP and requires that UDP port 319 and 320 are available (for both incoming and outgoing traffic). It is therefore necessary that any firewall is not blocking these ports. Please contact your system administrator to make sure that the proper configurations are performed.

PTP was originally defined in the IEEE 1588-2002 standard, officially entitled

"Standard for a Precision Clock Synchronization Protocol for Networked

Measurement and Control Systems" and published in 2002. In 2008, IEEE 1588-2008 was released as a revised standard; also known as PTP Version 2, it improves accuracy, precision and robustness but is not backward compatible with the original

2002 version.

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.

28 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 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.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

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 .

30 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.5.2 Installing PickMaster Twin Client

2.5.2 Installing PickMaster Twin Client

Procedure

Installing PickMaster Twin Client

Note

The PickMaster 3 and PickMaster Twin Client are not recommended to be installed on a same PC.

They may influence each other.

Note

The PickMaster Twin Client and PickMaster Twin Host are not recommended to be installed on a same PC.

Note

The PickMaster Twin 1.0 is for IRC5 controller.

The PickMaster Twin 1.1 is for OmniCore controller.

Note

Make sure that you have installed RobotStudio on your computer before installing

PickMaster Twin Client. For the installation procedure of RobotStudio, see

Operating manual - RobotStudio .

Use the following procedure to install the PickMaster Twin Client:

1 Browse to the PickMaster Twin Client installation package and double-click

Setup.exe

The installation starts.

xx1900001752

2 Click Next .

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 .

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

2 Installation

2.5.2 Installing PickMaster Twin Client

Continued

7 Choose an IP address for network adaptor configuration and click Next .

Note

To enable the time synchronization service, the user should select the local

IP address which is connected to the real controller during installing the

PickMaster Twin Client.

If the computer is not yet connected to a real controller, the IP address could also be configured after the installation. For detailed information, see

Configuring local IP address on page 32

8 Click Next to start the installation.

9 When the installation is complete, choose to restart the computer now or later and click Finish ..

Configuring local IP address

The local IP address should be reconfigured in the PickMaster Runtime (RRT) in the following cases:

• Previous IP configuration during installation is wrong.

• The network interface currently used for connecting the real controller has been changed.

Start Runtime, click File - Options to open a pop-up dialog. Select the corresponding interface in the list box and click OK.

Note that the network interface configurated in Runtime must be the IP address of the local computer connected to the controller using WAN interface.

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

32 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

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

2 Installation

2.6.1 PickMaster

Twin Hardware connection illustration

2.6 Electrical connection

2.6.1 PickMaster ® Twin Hardware connection illustration

Example xx2100000349

34 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.6.2 Connecting cameras

2.6.2 Connecting cameras

Introduction to camera connections

The camera does not receive power voltage through the Ethernet cable. A separate connection provides power and I/O functions, this is the power/trig/strobe cable.

We recommend using an external power supply for the Gigabit Ethernet cameras.

This way, they will receive power regardless if the robot controller is turned on or not. If the camera is supplied with power directly from the robot controller it will shut down when the controller is turned off. Runtime can not reconnect to a camera that has been shut down and restarted. This means that if Runtime is running when a controller that serves as a camera power supply is shut down, Runtime must be restarted after the controller has been switched on again. This problem is avoided by using an external power supply.

A 4-port NIC board in the options must be used for the Gigabit Ethernet cameras.

And the cameras cannot use the same network card with the controller. Or the pictures will be affected.

The jumbo packet function of the network card is to be turned on when using with the camera.

The schematics of how the trigger strobe and power wires from the camera must be connected to the robot controller I/O board can be seen in the circuit diagrams, see Circuit diagram - PickMaster Twin , 3HAC024480-020 . Detailed information about avoiding EMI/ESD problems is described in

Avoid_EMI_ESD_in_camera_installations , see

References on page 10 .

Note

All safety information for working with the controller is described in the product manual for the controller.

Prerequisites

Make sure all power is switched off before connecting cameras.

Validated cameras

The following cameras are supported for the PickMaster PowerPac:

• acA1440 - 73gc

• scA1300 - 32gc

• scA1390 - 17gm

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

2 Installation

2.6.2 Connecting cameras

Continued

CAUTION

Personal injury hazard and risk of damage to camera in case of short circuits.

Short circuits may cause an extreme rise in temperature of the camera's housing.

This may damage the camera and may also lead to person injuries, for example, burns. In the worst case, the overheating may cause a fire.

In order to prevent that, limit the current flowing through each individual wire during a short circuit. The maximum current allowed is 2 A. Use a fuse or use a limited power supply.

Connecting the cameras

Use this procedure to connect the cameras.

1 Connect the Ethernet cable with screw connector to the camera.

2 Connect the other end of the Ethernet cable to the PC or the switch (if used).

3 If a switch is used, connect the switch to the PC.

4 Connect the power wires of the power/trig/strobe cable to the external power supply accordingly.

In case no external power supply is used, connect to the controller.

5 Connect the trig/strobe wires of the power/trig/strobe cable to the robot controller.

Note

If Runtime is shut down and restarted quickly, and with several Gigabit Ethernet cameras, the Gigabit Ethernet performance driver may not be loaded properly for some cameras. The symptom is that the camera for which the driver is not loaded may occasionally fail to acquire an image, if the system is stressed. This can be avoided by waiting for 15 seconds between shutting down and restarting.

Related information

Circuit diagram - PickMaster Twin , 3HAC024480-020 .

36 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.6.3 Connecting I/O signals

2.6.3 Connecting I/O signals

Introduction to I/O connections

The Runtime concept consists of a number of I/O components that need to be connected physically.

Robot controller I/O board

At least one standard DI/DO board is required. Encoder boards are needed for conveyor tracking.

The encoder boards are delivered with a standard address that can differ from the

I/O configuration. This address can be changed.

For further information about how to read the encoder board address, see the product manual for the controller, see

References on page 10

Prerequisites

Make sure all power has been switched off.

Connecting the I/O signals

Use this procedure to connect the I/O signals.

1 If conveyors are used, connect each conveyor controller to the standard

DI/DO board for control from Runtime.

The drawings in Circuit diagram - PickMaster Twin , 3HAC024480-020 , uses

ACS 301-1P6-3 as conveyor controller, but other conveyor controllers can be used. The same applies to the encoder used, a Lenord-Bauer Gel

260-V-02500A001.

2 Connect the trig/strobe wires of the power/trig/strobe cables from the cameras to the robot controller.

3 Connect the I/O cables from any external tool signals to the robot controller.

4 Connect the I/O cables for other external devices, such as sensors to the robot controller.

5 Connect the encoders, see Application manual - Conveyor tracking .

I/O connections

The trigger strobe loop enables very precise synchronization between the robot controller and the image acquired. The I/O port of the Gigabit Ethernet camera closes this loop.

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.

When connecting a camera to multiple robot controllers it is important to consider how the system should work if one of the controllers is turned off. We recommend using an external 24V power supply to power the cameras. This way the cameras will have both power and I/O regardless if the controllers are turned off.

Continues on next page

37 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

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 .

38 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.6.4 Configuring networks

2.6.4 Configuring networks

Introduction to the controller network

The PickMaster PowerPac and the robot controller communicate through Ethernet.

If you have problems in connecting to the network, contact the local network administrator.

Note

The PickMaster PowerPac must be conntected to the LAN port on the controller.

Do not use the service port.

Configuring the controller network

If a new local area network (LAN) is created specifically for PickMaster PowerPac the following settings can be used.

• Use static IP numbering with different addresses for both the computer and the robot controller.

• IP addresses: 192.168.1.X (where X is between 1 and 253).

• Subnet mask: 255.255.255.0

• Gateway: 192.168.1.254

• DNS: N/A.

• Wins: N/A.

Note

The robot controller has a service Ethernet card configured with an IP address

(192.168.125.1). Therefore, the same subnet (192.168.125.X) must not be used for the standard LAN Ethernet card.

For more information, see the Windows documentation and the product manual for the robot controller to set up the IP configuration.

Note

It's not allowed to use any of the following IP addresses which are allocated for other functions:

• 192.168.127.0 - 255

The IP address cannot be on a subnet which overlaps with any of the above reserved IP addresses. If a subnet mask in the class B range has to be used, then a private address of class 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 .

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

2 Installation

2.6.4 Configuring networks

Continued

Prerequisites for vision networks

The vision network settings must be configured similar to the robot controller network settings.

Use a separate network for the vision system, that is controllers and cameras cannot be connected to the same network port on the PC.

To use more cameras than the number of available Ethernet ports on the PC, use one or two additional GigE cards.

The maximum number of cameras that can used with one PC is 10. Distribute them evenly on the dedicated vision network ports on the PC. Use cables with fastening screws between GigE card and camera. See example below of camera network topologies.

Cameras

Multi touch operation panel

Cell/Line

PLC

GigE

NIC board

Win10 IoT

PickMaster RT

Operator

Zenon

Conveyors

Modbus

Profinet

…

PCIE Encoders

CTM

Win10

PowerPac

RobotStudio

Ethernet

Robots & Robot Controllers xx1900001746

Note

Changes made to the camera settings outside Runtime will not be applied until

Runtime is restarted. This means that if a camera is restarted (power on/off) or a camera’s IP address is changed, thenRuntimer must be restarted to function properly. Therefore, Runtime and the Ethernet camera tool program should not be run simultaneously, to avoid unpredictable behavior. Instead, shut down

Runtime before making changes, then start Runtime after changes are saved.

Configuring the vision network

Use this procedure to configure the vision network.

1 Assign each camera with its own IP-address. The same rules apply as for other Ethernet networks, that is each camera and vision network card must have a unique IP address, and be located on the same subnet. The communication with cameras and controllers should be separated on different subnets. See

Example of suitable network architecture on page 41 .

2 Configure the IP addresses for the cameras using Cognex's Ethernet camera tool (available on the Windows Start menu in the Runtime folder). It can be used to set IP addresses of both cameras and network interface cards.

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

40 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.6.4 Configuring networks

Continued

4 In the Ethernet Camera Tool , select one of the vision network ports in the tree view and click Set Performance Driver . A warning about installing unsigned software will appear, click OK and neglect any Windows message asking to install new hardware.

5 Reboot the PC when the installation has finished.

6 Start Ethernet Camera Tool and verify that the driver has been successfully installed for each vision network port, in the Configure Performance Driver part. Repeat steps 4-6 for the next vision network port (if more than one port is used).

Note

Running the Ethernet Camera Tool and Runtime at the same time may result in unpredictable behavior. To avoid this, use only one of the programs at a time.

Note

Install Gigabit Ethernet Performance Driver . This provides fast and reliable camera communication, as well as decreased CPU load.

CAUTION

Running camera traffic and controller traffic on the same network can cause serious communication failure.

Configuring the Runtime network

If a new local area network (LAN) is created specifically for Runtime the following settings can be used.

• Use static IP numbering with different addresses for the PickMaster PowerPac and the robot controller.

• IP addresses: 192.168.1.X (where X is between 1 and 253).

• Select Connect to RRT , the Sign in window is displayed. How to connect to

RRT, see

RunTime on page 57 .

Example of suitable network architecture

The following example provides a suitable network architecture.

• Use static IP numbering with different addresses for both the computer and the camera(s).

• IP addresses of Port #1 and the cameras connected to it: 192.168.101.X

(where X is between 1 and 253).

• 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

2 Installation

2.6.5 Setting up robot controller

2.6.5 Setting up robot controller

CAUTION

If robot movement can be initiated from an external control panel then an emergency stop must also be available.

RobotWare

PickMaster PowerPac supports IRC5 and OmniCore robot controller. RobotWare is installed on the robot controller. The option PickMaster Ready is required to run

Runtime.

Note

The PickMaster Twin 1.0 is for IRC5 controller.

The PickMaster Twin 1.1 is for OmniCore controller.

For more information see the product manual for the controller, see

References on page 10 .

System parameters

The number of conveyors must be specified in the system parameters. Some other parameters must also be defined, such as motion, process, and encoder I/O parameters for the conveyors.

System parameters can be changed using the FlexPendant or RobotStudio.

I/O signals

How to configure I/O signals and boards is described in the section

I/O signals on page 177

The predefined I/O signals are described in the section

Predefined I/O signals on page 177

Related information

Product manual for the controller, see

References on page 10

Technical reference manual - System parameters .

Six axes robot configuration on page 44

42 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.6.6 Optional robot and process configuration

2.6.6 Optional robot and process configuration

Conveyor process modification

Fewer modifications can be done on the system parameters

Topic Process

The following parameter can be modified in the topic Process . It belongs to the type Conveyor systems .

Parameter maximum distance

Description

Defines the standard tracking distance of a conveyor work object before it is switched to a new work object. This is by default set to 20000mm. The work object switch is done automatically and fast but may steal some process time for a high speed picking application. Increasing the value may improve the cycle time slightly.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

2 Installation

2.6.7 Six axes robot configuration

2.6.7 Six axes robot configuration

Modifications for six axes robots

When using PickMaster with a six axes robot, some modifications must be done in the system parameters to optimize the robot motion with the conveyor tracking process.

Topic Process

The following three parameters can be modified in the topic Process . They belong to the type Conveyor systems .

Parameter

Start ramp

Stop ramp

Adjustment speed

Description

This is the correction start filter ramp that is used when connecting to a moving conveyor. This is by default set to 5 (steps).

Tune this parameter if higher accuracy is needed. A lower value gives better accuracy but the manipulator may jerk when connecting to the moving object.

This is the correction stop filter ramp that is used when disconnecting from a moving conveyor. This is by default set to ten (steps).

Tune this parameter to eliminate manipulator jerks when leaving the moving object. A lower value gives better accuracy when leaving the conveyor.

The speed (in mm/s) at which the robot should catch up to the conveyor. The general recommended value is 130% of the conveyor speed. As minimum, the value should be more than 100% with some margin. If the robots speed is very fast compared to the conveyor speed, a further increase of the value is often necessary. If the value is set too low, robot movements may become jerky or the conveyor tracking accuracy may become reduced. On the other hand, if the value is set too high, the drive system may become overloaded, causing motion supervision errors. Generally, the maximum recommended value is 200%. For IRB360 in applications with high robot speed, the maximum recommended value is 500%.

44 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 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

3 Navigating PickMaster PowerPac

3.2 Main window

3.2 Main window

Overview

This chapter describes about the user interface of the PickMaster PowerPac. The following figure and table provides information regarding the major elements in the user interface.

xx1800001382

Item

Ribbon tab

2 Tree view browser

Station view

Status view

Description

Contains the general functions for PickMaster PowerPac.

When creating a new solution, the work flow is usually from left to right. For more details, see the section

Ribbon tab on page 47 .

Organizes the programmable objects (for example, robots, sensors, and conveyors) of the picking application in a tree structure. It is separated into line and job tabs. For more details, see the section

Tree view browser on page 56

Realistic 3D display of the picking application. The objects in the station view are highlighted when selected or edited using the tree view browser.

Shows the status of the controller and system at present.

46 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.3.1 Introduction

3.3 Ribbon tab

3.3.1 Introduction

Overview

The PickMaster PowerPac ribbon contains elements arranged in various groups.

The following figures and tables provide more information regarding the elements in the PickMaster PowerPac ribbon.

Following are the objects and configurations saved in the ribbon tab.

xx1800001171

File xx1800001384

Button Description

Allows you to back to the main window.

xx1900000571

New

Open

Save

Allows you to create a new empty solution.

Recent allows you to open the last solution which has been opened on this computer.

Local folder allows you to open other solutions or any solutions saved in your local folder.

Allows you to save the changes for the solution at present.

Note

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

47 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.3.1 Introduction

Continued

Button

Save as

Close

Share

Options

Description

Allows you to save your present solution as a new solution in your local folder.

Note

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.

Allows you to close your present solution.

Pack&GO allows you to pack all the information of current solution, controller used in the solution and 3D models into a file so that it makes sharing files between users.

UnPack&GO allows you to unpack the sharing files which contains all the information of a solution, controller used in the solution and 3D models.

Pack As Template allows you to pack your present solution as a template in your local folder.

Language allows you to choose the applied language.

License allows you to choose a license type.

Disable licensing check box allows you to disable the license function.

Verify License icon allows you to verify your license is valid or not.

Apply icon allows you to apply the change of the license to your

PickMaster PowerPac.

LAYOUT

About

Exit xx1800001385

Allows you to get the basic version information.

Allows you to close and exit the PickMaster PowerPac.

xx1800001171

Continues on next page

48 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

RECIPE

3 Navigating PickMaster PowerPac

3.3.1 Introduction

Continued

Button

Cell Template

Controller

Gripper

Conveyor

Sensor

I/O Sensor

Description

Allows you to create a solution from the predefined templates.

More details about creating a controller is available in the section

Opening a solution from the Template on page 72 .

Allows you to add a controller with a robot system in the station view.

More details about creating a controller is available in the section

Adding Controller on page 75

Allows you to create a gripper.

More details about creating a gripper is available in the section

Adding Gripper on page 81

Allows you to create a conveyor.

More details about creating a conveyor is available in the section

Adding Conveyor on page 85

Allows you to create a sensor.

More details about creating a sensor is available in the section

Adding Sensor on page 88

Allows you to create an I/O sensor.

More details about creating an I/O sensor is available in the section

Adding an I/O sensor on page 90

Workarea Allows you to create a work area.

More details about creating a work area is available in the section

Adding work area on page 93

Circular Conveyor Workarea

Allows you to create a circular conveyor work area.

More details about creating a circular conveyor work area is available in the section

Adding a circular conveyor work area on page 96

Indexed Workarea Allows you to create an indexed work area.

More details about creating an indexed work area is available in the section

Adding a indexed work area on page 98 .

xx1800001172

Button

Items

Container

Description

Allows you to create items.

More details about creating an item is available in the section

Adding Item on page 101 .

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

49 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.3.1 Introduction

Continued

Button

Recipe

Flow

Description

Allows you to create a recipe.

More details about creating a recipe is available in the section

Adding Recipe on page 119 .

Allows you to define how the items and containers are to be generated in the simulation.

More details about creating a flow is available in the section

Adding Flow on page 135

SIMULATION

PRODUCTION xx1800001173

Button

Calibration

Start

Stop

Reset

Description

Allows you to calibrate the created solution.

More details about calibrating the created solution. is available in the section

Calibration on page 157

Allows you start or pause a simulation.

Allows you stop the simulation.

Allows you reset the station view from objects temporarily created in the previously run simulation.

xx1800001174

Button

Production

Description

Allows you start a production.

More details about how to run the production is available in the section

Simulation on page 159

and

Emulation on page 284

Continues on next page

50 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.3.1 Introduction

Continued

LOG

RUNTIME xx1800001175

Button

Viewer

Save

Description

Allows you to open the log viewer.

Allows you to save the log as csv file to your local folder.

xx1800001176

Button

Connect to RRT

Change password

Disconnect RRT

User Manager

Description

Allows you to connect to the real Runtime.

Allows you to change your password.

Allows you to disconnect from the real Runtime.

Allows you to create or delete the users, and add groups for different users.

User Manager

Introduction

PickMaster PowerPac manages different users and groups. Each user has a use group and each use group is associated with an ability. Users, groups, and abilities are all defined in auth.conf

. This file is located in the Pickmaster Runtime installation folder under RIS\RIS2\auth\ .

The groups "administrator", "technicist"and "operator" are provided. The administrator has the ability to “manage” and the operator has the ability to

“operate”.

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

51 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.3.1 Introduction

Continued

Operator Username: operator with Password: password

Note

The default user admin cannot be deleted.

To improve the safety of the default user account, the user can change the password.

Note

The Username and Password are case sensitive.

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

52 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.3.1 Introduction

Continued

Creating a user

To create a user:

1 Click File and select User Manager .

xx1900000564

The User Manager window is displayed.

xx1900000565

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

3 Navigating PickMaster PowerPac

3.3.1 Introduction

Continued

2 In the Users section, click Add .

xx1900000566

The Add user window is displayed.

xx1900000567

Continues on next page

3 Type a name for the new user in the User Name field.

4 Type a password in the Password field.

5 Retype the password in the Confirm Password field.

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.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.3.1 Introduction

Continued

Deleting a user

Note

Restart the Runtime to activate a new added user.

To delete a user:

1 Click File and select User Manager .

The User Manager window is displayed.

2 Select the user that you want to delete from the Users list.

3 Cick Delete user .

A confirmation window to delete the selected user is displayed.

xx1900000672

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

3 Navigating PickMaster PowerPac

3.4.1 Cell

3.4 Tree view browser

3.4.1 Cell

Overview

The tree view browser in the PickMaster PowerPac consists of a Cell tab.

The Cell tab displays the RunTime and the application hardware objects such as robots, cameras, conveyors, and recipes.

Following are the objects and configurations saved in the Cell tab.

xx1800001383

• RunTime

• Controllers

• Grippers

• Conveyors

• Sensors

• Items

• Containers

Continues on next page

56 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

RunTime

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

• Recipes

Right-click on RunTime and switch between the RunTime and Virtual RunTime .

Click Start Local RRT to start the RunTime on the computer. Select Connect to

RRT , the Sign in window is displayed. The following figure and table provide more details about the window.

xx1800001387 xx1800001388

IP Address

Runtime Account

UserName

Description

Allows you to locate the IP address of the Runtime computer.

Allows you to enter the user name of your account in the Runtime.

Password Allows you to enter the password of your account in the Runtime.

Enter your PC admin user name and password

UserName

Password

Allows you to enter the user name of the administrator account for the computer which the Runtime is installed.

Allows you to enter the password of the administrator account for the computer which the Runtime is installed.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Controller

Managing controller

Right-click on a Controller icon. The following window is displayed.

xx1800001389

Edit controller

Delete

Rename

Description

Allows you to change the settings for the selected controller.

When you right-click on a controller and select Edit controller , the

Edit controller window is displayed. See the following section for more details about managing a selected controller.

Allows you to delete the selected controller.

Allows you to change the name of the selected controller.

The following figure and table provides details about the Edit controller window.

xx1800001390

Description

Controller Name Displays the name of the selected controller.

System Name

IP Address

Version

Displays the name of the system.

Displays the IP address of the selected controller.

Displays the version of the system.

Continues on next page

58 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Managing robot

Description

System ID Displays the ID of the system.

Start Virtual controller

The Start Virtual controller icon allows you to start the selected virtual controller.

Select Real controller

The Select Real controller icon allows you to select a real controller when running production.

Right-click on a Robot icon. The following window is displayed

Set pose xx1800001391

Jump Home

Set Position

Examine

Rename

Description

Allows you to move the robot to the home position.

Allows you a set a position for the selected robot.

When you right-click on a robot and select Set Position , the Set

Robot Pose window is displayed. See the following section for more details about managing the position of a selected robot.

Allows you to examine the robot in the Station view.

Allows you to change the name of the selected robot.

The following figure and table provides details about the Set Pose configuration window.

xx1800001392

Reference

Position X,Y,Z (mm)

Orientation (deg)

Description

Allows you to select a coordinate system.

Allows you to set a new position for the selected robot.

Allows you to set a new orientation for the selected robot.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Grippers

Managing grippers

Right-click on a Gripper icon. The following window is displayed.

xx1800001393

Settings

Delete

Rename

Examine

Description

Allows you to manage the settings of the selected gripper.

When you select Setting , the Robot_Gripper Setting window is displayed. More details about managing a selected gripper is available in the section

Adding Gripper on page 81

Allows you to delete the selected gripper.

Allows you to change the name of the selected gripper.

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

60 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Setting

Delete

Rename

Hotspots...

Description

Allows you to manage the settings of the selected conveyor.

When you select Setting , the Conveyor Setting window is displayed.

More details about managing a selected conveyor is available in the section

Adding Conveyor on page 85 .

Allows you to delete the selected conveyor.

Allows you to change the name of the selected conveyor.

Allows you to manage the hotspots.

When you select Hotspots...

, the Set Conveyor hotspots window is displayed. See the following section for more details about the

Set Conveyor hotspots window.

Note

The hotspot is a saved location on the conveyor. A hotspot is used to define where on the conveyor the flow shall be generated. There is always a default hotspot, Hotspot0, located at the beginning of the conveyor. If the flow appears at a wrong location, modify the hotspot location to adjust it.

Examine Allows you to examine the selected conveyor in the Station view.

The following figure and table provides details about the Set Conveyor hotspots window.

xx1800001395

Hotspots list

Position X Y Z

Description

Displays the available hotspots.

Allows you define the position of the hotspot.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Manage work area

Right-click on a Conveyor WA icon. The following window is displayed.

xx1800001396

Setting

Delete

Rename

Description

Allows you to manage the settings of the selected work area.

When you right-click on a conveyor work area and select Setting , the

Conveyor WA Setting window is displayed. More details about managing a conveyor work area is available in the section

Adding work area on page 93

When you right-click on a circular conveyor work area and select Settings , the Circular Conveyor WA Setting window is displayed. More details about managing an indexed work area is available in the section

Adding a indexed work area on page 98 .

When you right-click on an indexed work area and select Settings , the

Indexed WA Setting window is displayed. More details about managing an indexed work area is available in the section

Adding a indexed work area on page 98 .

Allows you to delete the selected conveyor work area.

Allows you to change the name of the selected conveyor work area.

Continues on next page

62 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Sensors

Managing camera

Right-click on a Camera icon. The following window is displayed.

xx1800001397

Configuration

Calibration

Description

Allows you to configure the selected camera.

When you right-click on a camera and select Configuration , the

Camera Configuration window is displayed. More details about managing a camera is available in the section

Configuring camera on page 181 .

Allows you to calibrate the selected camera.

When you right-click on a camera and select Calibration , the Camera

Calibration window is displayed. More details about managing a camera is available in the section

Calibrating camera on page 234

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Live Video

Description

Allows you to have a view of the scene of the real camera.

xx1900000562

When you started the live video, you can stop it by click the Stop

Video after right click on the sensor.

Setting

Delete

Rename

Examine xx1900000684

Allows you to manage the settings of the selected camera.

When you right-click on a camera and select Setting , the Camera

Setting window is displayed. More details about managing a camera is available in the section

Adding Sensor on page 88 .

Allows you to delete the selected camera.

Allows you to change the name of the selected camera.

Allows you to examine the selected camera in the Station view.

Continues on next page

64 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Managing I/O sensor

Right-click on an I/O Sensor icon. The following window is displayed.

xx1800001398

Setting

Delete

Rename

Examine

Description

Allows you to manage the settings of the selected I/O senor.

When you right-click on an I/O sensor and select Setting , the I/O Sensor

Setting window is displayed. More details about managing an I/O sensor is available in the section

Adding an I/O sensor on page 90 .

Allows you to delete the selected I/O sensor.

Allows you to change the name of the selected I/O sensor.

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

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Setting

Delete

Rename

Description

Allows you to manage the settings of the selected item.

When you select Setting , the Item Setting window is displayed.

More details about managing a selected conveyor is available in the section

Adding Item on page 101 .

Allows you to delete the selected item.

Allows you to change the name of the selected item.

Containers

Managing container

Right-click on a Container icon. The following window is displayed.

xx1800001400

Setting

Delete

Rename

Description

Allows you to manage the settings of the selected conveyor.

When you select Setting , the Container Setting window is displayed.

More details about managing a selected container is available in the section

Adding Container on page 105

Allows you to delete the selected container.

Allows you to change the name of the selected container.

Continues on next page

66 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.4.1 Cell

Continued

Recipes

Managing recipe

Right-click on a Recipe icon. The following window is displayed.

xx1800001409

Setting

Delete

Copy

Rename

Description

Allows you to manage the settings of the selected recipe.

When you select Setting , the Recipe Setting window is displayed.

More details about managing a selected recipe is available in the section

Adding Recipe on page 119 .

Allows you to delete the selected recipe.

Allows you to copy the selected recipe.

Allows you to change the name of the selected recipe.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

3 Navigating PickMaster PowerPac

3.5 Status view

3.5 Status view

Status

When the system starts, the status of the controller and the Runtime will show up on the right top corner as the illustration.

xx1800001410

Controllers

Controller

Description Note

Red : There is at least one controller stopped.

Green : All controllers are started and autorunning.

Yellow : There is at least one controller started and under manual controlling or just connected.

Grey : No controller is added in the existing solution.

xx1800001745

Note

The Red has the highest priority.

Red : Controller is stopped

Green : Controller is started and auto-running.

Yellow : Controller is started and under manual controlling or just connected.

Click on the Controllers button , the detailed status for each controller will show up.

Runtime

VRT

RRT

English

Grey : No solution is opened.

Red : The connection to the virtual Runtime fails.

Green : The connection to the virtual Runtime successes.

Yellow : The connection to the virtual Runtime is progressing.

Red : The connection to the real Runtime fails.

Green :The connection to the real Runtime successes.

Yellow : The connection to the real Runtime is progressing.

The using language of the system.

Allows you to open the PickMaster PowerPac application manual.

xx1800001746 xx2000000307

68 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.1 Overview

4 Working with PickMaster PowerPac

4.1 Overview

Overview

Working with PickMaster PowerPac in virtual Runtime is to fulfill the simulation function in a visual status.

Working with PickMaster PowerPac in real Runtime is to fulfill the emulation and production function in real stations with real robots and controllers.

Simulation is a previous debugging procedure to save cost and time when creating real stations.

The following is a recommended flow for working with PickMaster PowerPac. After you complete the workflow, you can perform these task in any order.

Note

The controller (contains at least one robot system) should be set up in

RobotStudio environment before starting PickMaster PowerPac, as the PickMaster

PowerPac provides only a method for creating paths but not functions for creating a virtual controller.

Note

If any firewall or antivirus software is installed, add pickmasteru.exe

, sshd.exe

, and visionclient. exe to the white list.

Otherwise the PickMaster PowerPac cannot connect Runtime and the vision function cannot work normally.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.1 Overview

Continued

Workflow for PickMaster PowerPac

Use this procedure to work with PickMaster PowerPac:

VRT 1

Task

Create an empty solution.

Add a controller.

Add a gripper.

Add a conveyor.

Add a sensor.

Add a work area.

Description

For detailed information, see

Creating Solution on page 71 .

For detailed information, see

Adding Controller on page 75

For detailed information, see

Adding Gripper on page 81 .

For detailed information, see

Adding Conveyor on page 85 .

For detailed information, see

Adding Sensor on page 88 .

For detailed information, see

Adding work area on page 93 .

16 Calibrate the circular conveyors.

17 Calibrate the indexed work area.

18 Verify the calibrations.

Add an items.

Add a container.

Add a recipe.

Calibrate the solution.

Do simulation

Calibrate the cameras.

Add a vision model.

Start the production.

For detailed information, see

Adding Item on page 101

For detailed information, see

Adding Container on page 105

For detailed information, see

Adding Recipe on page 119

For detailed information, see

Calibration on page 157

For detailed information, see

Simulation on page 159

RRT 12

Switch to real Runtime

Configure the cameras.

For detailed information, see

Switching to real

Runtime on page 171

For detailed information, see

Configuring camera on page 181 .

14 Calibrate the robots.

For detailed information, see

Calibrating robot on page 185

15 Calibrate the linear conveyors.

For detailed information, see

Calibrating linear conveyor on page 186 .

For detailed information, see

conveyor on page 207

work area on page 218

For detailed information, see

calibrations on page 232

Calibrating circular

Calibrating indexed

Verifying conveyor

For detailed information, see

Calibrating camera on page 234 .

For detailed information, see

Adding vision model on page 245 .

For detailed information, see

Starting production on page 283 .

70 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.1 Creating Solution

4.2 Setting up Solution and Recipe in virtual Runtime (VRT)

4.2.1 Creating Solution

Creating an empty solution

Use this procedure to create an empty solution:

1 Run the PickMaster PowerPac as administrator.

The PickMaster PowerPac opens.

xx1800000839

2 Click New .

xx1800000840

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.1 Creating Solution

Continued

An empty solution is created.

xx1800000841

Opening a solution from the Template

Open template from LAYOUT

You can also open a solution from the Cell Template when a solution is opened.

xx1800001386

Item

Parallel Conveyors

Vertical Conveyors

Circular Conveyors

User defined

Description

Parallel Templates allows you to choose one predefined parallel template.

Vertical Conveyors allows you to chose one predefined vertical template.

Circular Conveyors allows you to choose one predefined circular template.

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

72 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.1 Creating Solution

Continued

2 On the ribbon-tab, click Cell Template .

xx1800001386

3 Click to choose one template from the popup list according to your requirements.

The template is opening. A Please wait window shows up.

The main window for the chosen template shows up.

Opening a recent solution

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

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.1 Creating Solution

Continued

2 Click to select the Open .

xx1800001460

3 Click to choose one recent file according to your requirements.

The chosen recent file is opening. A Please wait window shows up.

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

74 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.2 Adding Controller

4.2.2 Adding Controller

Overview

This section describes how to add and modify a controller.

xx1900000572

Create a controller

For more information on how to create a controller, refer to Operating manual - RobotStudio .

WARNING

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

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.2 Adding Controller

Continued

Adding a controller

The Add Existing System dialog box opens as illustrated below.

xx1800000846

Note

Only the Controller that is created before this page is opened can be found in the System Found .

If a new Controller is created, the user need to refresh the Add Existing System dialog box.

Item

System Pool

Description

System Pool specify the location and folder of your PC where the required controller systems are stored.

Add icon allows you to choose the folder system from the list that you pre-defined in the RobotStudio.

Remove icon allows you to remove the folder system from the list that you pre-defined in the RobotStudio

Allows you to create or work with a robot system.

Manage System

System Found

Reset system(I-start)

Import new libraries

Lists the systems found in the selected system folder.

The controller will restart when this is selected.

Add the predefined robot to the PickMaster PowerPac.

Use existing station libraries

Open an existed system from the RobotStudio .

Continues on next page

76 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Procedure

4 Working with PickMaster PowerPac

4.2.2 Adding Controller

Continued

Item

Sync RAPID program to station

Description

Sync the application program to the solution.

On the PickMaster PowerPac ribbon-tab, click Layout .

Use this procedure to add a controller:

Note

You can only add the existed controller in the system to the solution. For more information about create controller, see

Create a controller on page 75

Note

The controller must be created before this step.

1 On the ribbon-tab, click Controller .

xx1800000845

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.2 Adding Controller

Continued

The Add Existing System dialog box is opened.

xx1800000846

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

78 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.2 Adding Controller

Continued

3 The Systems Found table lists the virtual controller systems found in the selected system folder. Click a system to select it for the new solution.

xx1800000847

4 Select the required check boxes in Options .

Note

A virtual controller system that has been modified using the Modify System function of the System Builder must be restarted with the Reset System option for the changes to take effect.

5 In the dialog box, click OK to add the selected controller to the solution.

The selected controller is added into the solution. The new added controller shows up in the Cell window Controller list.

xx1800000848

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.2 Adding Controller

Continued

6 In the Set Robot1 Pose window, enter numbers in the Position X Y Z (mm) text box and Orientation (deg) text box according to your requirements.

xx1800000849

7 Click OK .

Note

The pose can be adjusted when the other parts are added.

Right click on the Robot1 in the Cell window Controller list.

80 xx1800000850

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.3 Adding Gripper

4.2.3 Adding Gripper

Overview

This section describes how to add a gripper.

xx1900000573

Adding a gripper

The Gripper window opens as illustrated below.

xx1800000854

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.3 Adding Gripper

Continued

Item

Add to library

Gripper Name

Controller

Available Robot

Reference Coordinate

Position XYZ(mm)

Orientation XYZ(deg)

Mass Setting

Activator Setting

Mass Setting

Use Default

Mass

Center of gravity

Inertia

Description

Allows you to import a pre-defined gripper from the library or upload an user defined gripper to the library.

Note

To upload an user defined gripper, click Add to library , browse to the local folder and select the *.rslib

file, the gripper will be added to the library automatically.

Type a name for the tool in the Name field.

Select a controller from the Controller list.

Select a robot from the Robot list.

Allows you to select the reference coordinate for the gripper.

Allows you to set the position of the gripper.

Allows you to set the orientation of the gripper.

For more details, see following section.

Description

Use default setting for the mass setting.

Type the mass of the tool in the Mass (kg) field.

Type the coordinates of the center of gravity.

Type the values of the inertia in Inertia (kgm 2 ).

xx1900001416

Continues on next page

82 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Procedure

4 Working with PickMaster PowerPac

4.2.3 Adding Gripper

Continued

Activator Setting

Activator Using

Add icon

Delete icon

Rapid tooldata

TCP Position

TCP Orientation

Signal

Default Settings

Customized Settings

Description

Allows you to select the activator to be used.

Allows you to add a new activator.

Note

When you need to do multiple pick, you should add enough activators for each pick. For example, if you need to pick four items and then place them, you need to add another three activators besides the default one.

To do multiple pick, the Multiple-Pick rapid file in the installation package should be imported to the recipe for the required robots.

Allows you to delete a selected activator.

Select a RAPID tooldata from Tool data . The selected tooldata shall be used by the RAPID program when picking with this activator.

Note

The RAPID program needs to be updated if more than one activator is used. For more details see,

Example: Double pick single place on page 407 .

Type the coordinates of the tool center point. The tool center point defines the location on the tool where an item is attached.

Note

The coordinates are applied to the selected tooldata during the simulation.

Type the orientation of the tool center point. The TCP orientation defines the desired orientation of the tool while picking up an item. The orientation shall be specified as Euler XYZ angles

(degrees).

Note

The orientation is applied to the selected tooldata during the simulation.

Allows you to choose the setting of the signal.

Use default setting for the the signal.

Allows you to change the setting of the signal.

Use this procedure to add grippers:

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.3 Adding Gripper

Continued

On the PickMaster PowerPac ribbon-tab, click Layout .

1 On the ribbon-tab, click Gripper .

xx1800000852

The Gripper window opens.

xx1800000853

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 .

84 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.4 Adding Conveyor

4.2.4 Adding Conveyor

Overview

This section describes how to add a conveyor.

xx1900000576

Adding a conveyor

The Conveyor window opens as illustrated below.

xx1800000857

Item

Conveyor Name

Conveyor Type

LWH Size(mm)

Description

The name of the new conveyor.

Make sure the name is unique in the current task.

Allows you to select the a liner conveyor or a circular conveyor.

Allows you to define the size of the conveyor.

Continues on next page

85 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.4 Adding Conveyor

Continued

Procedure

Item

Preview icon

Reference Coordinate

Position XYZ(mm)

Orientation XYZ(deg)

Conveyor Signal

Controller

Description

Click to preview the new conveyor.

Allows you to select the reference coordinate for the conveyor.

Allows you to set the position of the conveyor.

Allows you to set the orientation of the conveyor.

Allows you to choose the setting of the signal.

Allows you to choose the controller to be used.

On the PickMaster PowerPac ribbon-tab, click Layout .

Use this procedure to add conveyors:

1 On the ribbon-tab, click Conveyor .

xx1800000855

The Conveyor window opens.

xx1800000856

2 In the Conveyor window, enter a name in the Conveyor Name text box or use the default one.

3 In the Conveyor window, select a type as liner or circular in the Conveyor

Type drop-down list.

Continues on next page

86 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.4 Adding Conveyor

Continued

4 If you select a liner conveyor, in the Conveyor window, enter numbers in the

LWH Size(mm) text box to define the size of the conveyor according to your requirements.

xx1900000574

5 If you select a circular conveyor, in the Conveyor window, enter numbers in the RH Size(mm) text box to define the size of the conveyor according to your requirements.

xx1900000575

6 Click Preview , the conveyor preview appears in the station view. The conveyor position setting text box is activated.

7 In the Conveyor window, enter numbers in the Position X Y Z (mm) text box and 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

4 Working with PickMaster PowerPac

4.2.5 Adding Sensor

4.2.5 Adding Sensor

Overview

This section describes how to add a sensor.

xx1900000577

Figure 4.1:

Adding a sensor

The Camera window opens as illustrated below.

xx1800001413

Item

Camera Name

Continues on next page

Description

The name of the new camera.

Make sure the name is unique in the current task.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Procedure

4 Working with PickMaster PowerPac

4.2.5 Adding Sensor

Continued

Item Description

Attached to Conveyor/Index

Allows you to choose the conveyor if the camera shall be attached to a conveyor.

Entry (mm) Type an entry limit for the visible area below the camera along a conveyor. A negative value is used if the visible area starts upstreams from the camera location.

Exit (mm)

Enable vision width

Left (mm)

Type an exit limit for the visible area below the camera along a conveyor. A positive value is used if the visible area ends downstreams from the camera location.

Select this to enable a width limitation of the visible area.

Type a limit value for the left side of the visible area. A negative value is used if the visible area ends on the left side of the camera location (from an upstream viewpoint).

Right (mm)

Reference Coordinate

Position XYZ(mm)

Orientation XYZ(deg)

Type a limit value for the right side of the visible area. A positive value is used if the visible area ends on the right side of the camera location (from an upstream viewpoint).

Allows you to select the reference coordinate for the camera.

Allows you to set the position of the camera.

Allows you to set the orientation of the camera.

Note

The visible area is not limited if the camera is used with an indexed work area .

Note

The camera will not detect any objects created or placed on the other conveyors or indexed work areas.

On the PickMaster PowerPac ribbon-tab, click Layout .

Use this procedure to add conveyors:

1 On the ribbon-tab, click Sensor .

xx1800001411

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.5 Adding Sensor

Continued

The Camera window opens.

xx1800001412

2 In the Camera window, enter a name in the Camera Name text box or use the default one.

3 In the Camera 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.

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

90 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Procedure

4 Working with PickMaster PowerPac

4.2.5 Adding Sensor

Continued

Item

I/O sensor Name

Description

The name of the new I/O sensor.

Make sure the name is unique in the current task.

I/O sensor Height

I/O sensor Length

The height of the new I/O sensor.

The length of the new I/O sensor.

Attached to Conveyor/Index

Allows you to choose the conveyor if the camera shall be attached to a conveyor.

Reference Coordinate

Position XYZ(mm)

Orientation XYZ(deg)

Allows you to select the reference coordinate for the I/O sensor.

Allows you to set the position for the I/O sensor.

Allows you to set the orientation of the I/O sensor.

Note

To function correctly, an I/O sensor must not be in contact with other stationary objects, for example, the conveyor.

On the PickMaster PowerPac ribbon-tab, click Layout .

Use this procedure to add conveyors:

1 On the ribbon-tab, click I/O sensor .

xx1800001414

The I/O sensor window opens.

xx1800001415

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

91 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.5 Adding Sensor

Continued

3 In the I/O sensor window, enter numbers in the I/O sensor Height text box to define the height of the I/O sensor according to your requirements or use default settings.

4 In the I/O sensor window, enter numbers in the I/O sensor Length text box to define the length of the I/O sensor according to your requirements or use default settings.

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 .

92 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.6 Adding work area

4.2.6 Adding work area

Overview

This section describes how to add a work area.

xx1900000578

Adding a work area

The conveyor work area is an area on the conveyor where the robot picks or places items. One conveyor board is required for each conveyor work area. A robot usually has only one conveyor work area on each related conveyor, but there is no restriction.

The Conveyor Workarea window opens as illustrated below.

xx1800001419

Description

Workarea Name Type a name for the conveyor work area.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.6 Adding work area

Continued

Controller

Robot

Description

Select a picking controller from the list.

Select a robot from the list.

Conveyor Board Select a conveyor board from the list.

Conveyor Select a conveyor from the list.

Workarea Order Indicates the upstream order of this work area among other work areas on this conveyor. For example, “2” indicates that this is the second most upstream work area on this conveyor.

Workarea Type

Selection Index

Signal Type

Select work area type from the available options.

• Pick : Select this if the work area is a picking area.

• Place : Select this if the work area is a placing area.

Select an index to specify the pick or place order in the RAPID program when using more than one pick work area and one place work area with the selected robot

Configure the signals. Use the Customized Settings options to manage the signals. For more information regarding Conveyor work area signals see the following section.

Select the Default Settings check box to use the default signal configuration.

Conveyor work area signals

Signal

Conveyor start/stop

Queue idle

Position available

Position generator

Trig

Strobe

Description

Digital output signal. This signal is used if an overflow shall be avoided by letting the conveyor movement be controlled by the work area. The signal goes high when the conveyor shall start moving and goes low when the conveyor shall stop to avoid an overflow.

Digital output signal. This signal is high when the queue for this work area is empty. The signal goes high when the last item is retrieved from the queue.

Digital output signal. This signal is high when there is one or more items between the enter and exit limits for the work area.

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.

If vision is used this digital output signal must be connected to the trigger input on the I/O port on the camera. If predefined positions are used this output signal must be connected directly to the start input on the conveyor encoder board. This is best done using the doManSyncX signal. If predefined positions are distributed only to this work area (For instance, Runtime with a single robot),the encoder signal cXSoftSyncSig can be used instead of doManSyncX , that is, without the need of connecting a signal to the start input of the encoder board.

This is the input signal name for the strobe signal and is the start signal for the encoder board for the conveyor. The signal name is set to cXNewObjStrobe . If vision is used the signal must be generated from the strobe output on the I/O port of the camera. When predefined positions are used, the strobe may be generated directly from the doManSyncX signal, which is directly connected to the start signal on the encoder board.

Continues on next page

94 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Procedure

4 Working with PickMaster PowerPac

4.2.6 Adding work area

Continued

Note

Using distance triggered Positions Source with DSQC2000, camera or predefined source, configure cxTrigVis as Trig signal. From RW6.10 and later, the Strobe signal is automatically configured and can therefore be omitted in the work area signal configuration.

On the PickMaster PowerPac ribbon-tab, click Layout .

Use this procedure to a work area:

1 On the ribbon-tab, click Workarea .

xx1800001417

The Conveyor Workarea window opens.

xx1800001418

2 In the Conveyor 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

Continues on next page

4 Working with PickMaster PowerPac

4.2.6 Adding work area

Continued

Adding a circular conveyor work area

The Circular Conveyor Workarea window opens as illustrated below.

xx1800001425

Description

Workarea Name Type a name for the conveyor work area.

Controller

Robot

Select a picking controller from the list.

Select a robot from the list.

Conveyor Board Select a conveyor board from the list.

Conveyor Select a conveyor from the list.

Workarea Order Indicates the upstream order of this work area among other work areas on this conveyor. For example, “2” indicates that this is the second most upstream work area on this conveyor.

Workarea Type

Selection Index

Signal Type

Select work area type from the available options.

• Pick : Select this if the work area is a picking area.

• Place : Select this if the work area is a placing area.

Select an index to specify the pick or place order in the RAPID program when using more than one pick work area and one place work area with the selected robot

Configure the signals. Use the Customized Settings options to manage the signals. For more information regarding Conveyor work area signals see the following section.

Select the Default Settings check box to use the default signal configuration.

Continues on next page

96 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.6 Adding work area

Continued

Conveyor work area signals

Procedure

Signal

Conveyor start/stop

Queue idle

Position available

Position generator

Trig

Strobe

Description

Digital output signal. This signal is high when the queue for this work area is empty. The signal goes high when the last item is retrieved from the queue.

Digital output signal. This signal is high when there is one or more items between the enter and exit limits for the work area.

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.

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

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

4 Working with PickMaster PowerPac

4.2.6 Adding work area

Continued

The Conveyor window opens.

xx1800001424

2 In the Circular Conveyor 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 .

Adding a indexed work area

An indexed work area is a fixed area where a robot picks or places items without conveyor tracking.

The Indexed Workarea window opens as illustrated below.

xx1800001428

Workarea Name

Continues on next page

Description

Type a name for the indexed work area.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.6 Adding work area

Continued

Controller

Robot

Workarea Type

Work object

Description

Select a controller from the list.

Select a robot from the list.

Select work area type from the available options.

• Pick : Select this if the indexed work area is a picking area.

• Place : Select this if the indexed work area is a placing area.

Select a RAPID work object data ( wobjdata

). The associated wobjdata is automatically used with the indexed work area.

Note

No work object calibration is needed. The selected wobjdata is automatically updated when a simulation is started.

Selection Index Select an index to specify the pick or place order in the RAPID program when using more than one pick work area and one place work area with the selected robot.

Reference Coordinate Allows you to select the reference coordinate for the indexed work area.

Position XYZ(mm)

Orientation XYZ(deg)

Signal Type

Allows you to set the position for the indexed work area.

Allows you to set the orientation of the indexed work area.

Configure the signals. Use the Customized Settings options to manage the signals. For more information regarding indexed work area signals see the following section.

Select the Default Settings check box to use the default signal configuration.

Indexed work area signals

Signal

Robot execution

Queue idle

Description

This optional digital input I/O signal is used to indicate that it is allowed for the robot to execute an item target in the RAPID program. Execution starts when the signal is high and stops when the signal goes low. If the signal goes low, all remaining items in the currently executing scene is dropped, so when the signal goes high again, the item targets for the next scene is executed. The signal must also go low after one scene is finished and then go high again to start executing item targets for the next scene.

Digital output signal. This signal is high when the queue for this work area is empty. The signal goes high when the last item is retrieved from the queue.

Position available

Position generator

Note

If the robot needs to repeat the motion, this signal should be the same with the signal in Strobe .

This output signal is high when there are one or more items when the Robot execution signal is high for the work area. If no Robot Execution signal is used the Position Available signal will go high as soon as there are any items in the queue.

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

99 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.6 Adding work area

Continued

Procedure

Signal

Trig

Strobe

Description

If vision is used this digital output signal must be connected to the trigger input on the I/O port on the camera.

This is the input signal name for the strobe signal and is the start signal for the encoder board for the conveyor.

If only select the Strobe signal, the robot will pick and place for just one time.

If a continuous picking and placing is needed, set the Strobe signal and Queue idle signal as the same one. And a sensor from the customer is needed to trigger the cycle.

On the PickMaster PowerPac ribbon-tab, click Layout .

Use this procedure to add a indexed work area:

1 On the ribbon-tab, click Indexed Workarea .

xx1800001426

The Conveyor window opens.

100 xx1800001427

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

4 Working with PickMaster PowerPac

4.2.7 Adding Item

4.2.7 Adding Item

Overview

An item is the object that is picked and placed by the robot. It is most common to use only one item for both pick and place but any number of items can be created.

The grip location of an item defines the pick/place position relative to the item position.

This section describes how to add an item.

xx1900000591

Adding an item

The New Item window opens as illustrated below.

xx1800001432

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

101

4 Working with PickMaster PowerPac

4.2.7 Adding Item

Continued

Item Properties xx1800001430

Item Properties

Item Name

Item Type

Description

Allows you to change the name.

Allows you to change the shape of the item.

RH Size (mm) Allows you to configure the size of the item.

Appearance Properties

Templates

Color

Label Location

Label Picture

Use Texture

Show Contour

Show Orientation

Marker

Rapid properties

Description

Default Settings tab allows you to choose one of the preset templates.

Default Name text box allows you to enter the name for a new template.

Save icon allows you to save your new template.

Delete icon allows you to delete your templates.

Allows you to change the color of the new item.

Allows you to set the location of the label on the item.

Allows you to select an image file for the label picture.

Allows you to use a texture image file for the item or container.

Allows you to choose to show the contour or not.

Allows you to choose to show the orientation maker or not.

Allows you to define the values for accepted or rejected item types.

The values for the accepted and rejected item type are sent to the

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

102 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.7 Adding Item

Continued

Item Source xx1800001431

Source Type

Description

Vision : If the source type is set to Vision , a camera and vision models are used to find the object positions. The vision models are described in section

Adding vision model on page 245 .

Predefined : If the source type is set to Predefined , the positions generated by the position source are statically defined and no camera is used.

Note

If the user changes the source type of an item, the user need to redo the selection in the related recipe setting accordingly.

Vision Models For more information regarding Vision Models see the following section.

Vision Models

Description

Geometric Allows you to add a gemetric vision model.

A geometric sub inspection model is configured in the same way as a PatMax model. See

Configuring a geometric model with PatMax on page 246

. In addition, the relative positions of the found items and the corresponding alignment hit must be trained.

Blob Allows you to add a blob vision model.

A blob sub inspection model is configured in the same way as a blob model.

See

Configuring blob models on page 257

. In addition, the number of required hits must be configured.

Inspection Allows you to add an inspection vision model.

A blob sub inspection model is configured in the same way as a blob model.

See

Configuring blob models on page 257

. In addition, the number of required hits must be configured.

External Allows you to add an external sensor.

This function is reserved for next version.

Import

Export

Delete

Allows you to import a selected vision model.

Allows you to export a selected vision model.

Allows you to delete a selected vision model.

Continues on next page

103 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.7 Adding Item

Continued

Procedure

On the PickMaster PowerPac ribbon-tab, click Recipe .

xx1800001438

Use this procedure to add an item:

1 On the ribbon-tab, click Item .

xx1800001429

The New Item window opens.

xx1800001430

2 If needed, define levels for accepted or rejected item types.

When inspection is used, a found item will be marked as either accepted or rejected. The values for accepted and rejected item type in the Item

Configuration dialog are sent to the RAPID program and are processed there. See

Configuring inspection models on page 264

3 In the RH Size part, define the item’s size.

The height of the item defines the pick height and is always added to items found by a vision model or a position defined by a predefined position source.

4 Click OK .

Related information

Configuring inspection models on page 264 .

104 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.8 Adding Container

4.2.8 Adding Container

Overview

A container defines which patterns to use and what items to use for each position in the patterns. This way, different containers can use the same patterns but with different items.

This section describes how to add a container.

xx1900000591

Prerequisites

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

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

105

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

Container Properties xx1800001434

Container Properties

LWH Size (mm)

Description

Container Name Allows you to change the name.

Allows you to configure the size of the container.

Appearance Properties

Templates

Color

Label Location

Label Picture

Description

Default Settings tab allows you to choose one of the preset templates.

Default Name text box allows you to enter the name for a new template.

Save icon allows you to save your new template.

Delete icon allows you to delete your templates.

Allows you to change the color of the new item.

Allows you to set the location of the label on the item.

Allows you to select an image file for the label picture.

Use Texture

Show Contour

Allows you to use a texture image file for the item or container.

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

106 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

Container Pattern

A pattern defines a collection of positions. For example, a box with predefined locations for certain objects. You can change the order, delete, or rearrange the selected layers using the available options. You can adjust the vertical position of each layer by modifying the Offset (mm). You can also manage the sorting method.

The Sorting Method section defines the order in which the items in the container pattern shall be handled by the robots.

xx1800001435

Description

Sorting Method Configure the signals. Use the Customized Settings options to manage the signals.

None options: The items in the layer shall be accessed in the same order as they are defined in the layout for each layer, but if the next item cannot be reached the next one after that is used.

X Direction options: The items shall be accessed in the X direction for each layer, that is, in the order they travel along a conveyor.

Strict options: The items shall be used in the same order as they are defined in the layout for each layer. If a robot cannot access the next item position in a layer, that robot does not use any more item positions in the container pattern.

Add Layer

Edit Layer

Allows you to add a new layer.

For more information regarding Add Layer see the following section.

Allows you to edit the selected layer.

Delete Layer

Delete All

Copy

Down

Total Weight

Allows you to delete the selected layer.

Allows you to delete all the existing layers.

Allows you to copy the selected layer.

Allows you to move the selected layer to a upper level.

Allows you to move the selected layer to a lower level.

Enter the total weight of all the items.

Continues on next page

107 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

Total Height

Total Count

Add Layer

Description

Enter the total height of all the items.

Enter the total count of all the items.

xx1900000561

Layer ID

Description

Allows you to rename the layer.

Pattern Template Allows you to select a predefined pattern template.

Available Items

Align Style

Distribute Style

The drop down list allows you to select one item you have created for this system.

Add icon allows you to add the selected item onto the layer.

Allows you to define the align style when you have more than one item in the layer.

Left icon allows you to align all the items in this layer from the left.

Right icon allows you to align all the items in this layer from the right.

Center icon allows you to align all the items in this layer from the center.

Middle icon allows you to align all the items in this layer from the middle.

Top icon allows you to align all the items in this layer at from top.

Bottom icon allows you to align all the items in this layer from the bottom.

Allows you to define the distribution style when you have more than one item in the layer.

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 direction.

Else Functions

Selected Item(s)

Rotate icon allows you to rotate the selected items.

Delete icon allows you to delete the selected items.

Select All icon allows you to select all the items in the layer.

Show Item Name checkbox allows you to show the name of the items.

Show Item Order checkbox allows you to show the added order of the items.

Allows you to define the location and position of each items.

Continues on next page

108 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

Container Source

Vision Models xx1800001436

Source Type

Description

Vision : If the source type is set to Vision , a camera and vision models are used to find the object positions. The vision models are described in section

Adding vision model on page 245 .

Predefined : If the source type is set to Predefined , the positions generated by the position source are statically defined and no camera is used.

Vision Models For more information regarding Vision Models see the following section.

Description

Geometric Allows you to add a gemetric vision model.

A geometric sub inspection model is configured in the same way as a PatMax model. See

Configuring a geometric model with PatMax on page 246

. In addition, the relative positions of the found items and the corresponding alignment hit must be trained.

Blob Allows you to add a blob vision model.

A blob sub inspection model is configured in the same way as a blob model.

See

Configuring blob models on page 257

. In addition, the number of required hits must be configured.

Inspection Allows you to add an inspection vision model.

A blob sub inspection model is configured in the same way as a blob model.

See

Configuring blob models on page 257

. In addition, the number of required hits must be configured.

External Allows you to add an external sensor.

This function is reserved for next version.

Import

Export

Delete

Allows you to import a selected vision model.

Allows you to export a selected vision model.

Allows you to delete a selected vision model.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

109

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

Procedure

On the PickMaster PowerPac ribbon-tab, click Recipe .

xx1800001438

Use this procedure to add a container :

1 On the ribbon-tab, click Container .

xx1800001433

The Container window opens.

xx1800001437

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

110 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

4 If need, adjust the layout of the items on the layer.

xx2000000294

A Select all items on the layer.

xx2000000295

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

111

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

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.

Continues on next page

112 xx2000000297

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

Click Right to align all items on the right edge according to the base item.

xx2000000298

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

113

4 Working with PickMaster PowerPac

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

114 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

Click Middle to align all items on the centre line horizontally according to the base item.

xx2000000300

Click Top to align all items on the top edge according to the base item.

xx2000000301

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

115

4 Working with PickMaster PowerPac

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

116 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

D Click Horizontally to set all items tangent in horizontal direction.

xx2000000303

Click Vertically to set all items tangent in vertical direction.

xx2000000304

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

117

4 Working with PickMaster PowerPac

4.2.8 Adding Container

Continued

5 Click OK .

The container is saved and the window is closed.

118 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

4.2.9 Adding Recipe

Overview

This section describes how to add a recipe.

In one solution, several recipes can be created. All elements (Robots, sensor and so on) in this solution can be added to any recipes with no limits.

Adding a recipe

The Recipe window opens as illustrated below.

Properties xx1800001439 xx1800001440

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

119

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

Available Devices

Available Workareas

Description

Allows you to define the available devices, including robots and conveyors.

For more information regarding Available Device see the following section.

Allows you to define the available workareas.

For more information regarding Available Workareas see the following section.

xx1900000547

Recipe Name

Robot Setting

Conveyor Setting

Description

Allows you to rename the recipe.

Note

If there are more than one robot in this system, all the robot will be listed here with their defined name.

Rapid Editor allows you specify the editor to open Rapid.

Speed allows you to change the speed of the robot.

Rapid allows you to import/export/edit the rapid of the robot.

Note

To do multiple pick, import the Multiple-Pick rapid file in the installation package for the required robots.

Speed allows you to change the speed of the conveyor.

Acceleration allows you to change the acceleration of the conveyor.

Deceleration allows you to change the deceleration of the conveyor.

Continues on next page

120 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Available Workareas

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued xx1800001442

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

121

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

Pick Setting

Description

Pick/place elevation is the distance, in negative z-direction relative to the tool, from where the robot approaches the item target.

Pick/place time is the time the robot is in the pick/place position.

If the conveyor is moving during the pick/place time, the robot will track along the conveyor to keep the relative position on the moving conveyor.

Vacuum activation is the time in seconds before the middle of the corner path of the approaching position, when the vacuum

I/O should be set. If a negative value is entered, the vacuum

I/O will be set the time after the middle of the corner path. This value is only valid for work areas of type Pick or Other .

Note

Vacuum activation does not affect the picking of items in simulation. Items are attached to the picking tool using

SimAttach events, for example, in the Pick Routine.

Vacuum reversion is the time in seconds before the half place time in the place position, when the blow I/O should be set. If a negative value is entered, the blow I/O will be set the time after the half place time in the place position. This value is only valid for work areas of type Place or Other .

Note

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.

Vacuum off is the time in seconds after the half place time in the place position, when the blow I/O should be reset. If a negative value is entered, the blow I/O will be reset the time before the half place time in the place position. This value is only valid for work areas of type Place or Other .

Note

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

122 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Area Setting

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

Description

After you define a start entry in a work area which may called

Start X , you can define a same start entry which may called

Start Y at the vertical direction of the Start X.

Enter is the limit from where the robot starts to execute item targets on the work area (Start X). The distance is calculated in millimeters from the center of the robot. The range is positive if the limit is beyond the center of the robot, relative to the moving direction of the conveyor. Make sure that the enter limit can be reached by the robot.

Start is when the next item to execute on the conveyor is above this limit, the conveyor is started. The distance is calculated in millimeters from the center of the robot. The range is positive if the limit is beyond the center of the robot, relative to the moving direction of the conveyor.

Stop is when an item on the conveyor reaches this limit, the conveyor is stopped. The distance is calculated in millimeters from the center of the robot. The range is positive if the limit is beyond the center of the robot, relative to the moving direction of the conveyor.

Exit is the limit from where the robot considers an item target as lost on the work area (Start X). The distance is calculated in millimeters from the center of the robot. The range is positive if the limit is beyond the center of the robot, relative to the moving direction of the conveyor. 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. 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.

Select the Use Start/Stop checkbox if the work area should supervise the start and stop limits.

This is handled by the Conveyor start/stop signal, see

Adding work area on page 93

Select the Start on production start checkbox if the work area should work with the conveyor when the production is started, and stopped when the production is stopped.

UpperLimit is the limit form where robot considers an item target as lost on the work area in End Y.The distance is calculated in milli-meters from the center of the robot. The range is positive if the limit is beyond the center of the robot, relative to the moving vertical direction of the conveyor.Make sure that the enter limit can be reached by the robot.

LowerLimit is the limit form where robot starts to execute item targets on the work area in Start Y. The distance is calculated in milli-meters from the center of the robot. The range is positive if the limit is beyond the center of the robot, relative to the moving vertical direction of the conveyor.If the y coordinate value of the item's position is greater than the UpperLimit, the robot will not grab the item. 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.

Use UpperLimit/LowerLimit checkbox if the work area should supervise the upper and lower limits.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

123

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

Description

Record Setting

K xx1800001747

Camera and Baseframe origin

Camera

Enter

Start

Stop

Exit

Robot

Image frame

Center of Robot

UpperLimit

LowerLimit

Allows you to record the position of the items and containers in simulation and production.

Continues on next page

124 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Operation

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

The operation contains pick operation and place operation.

Main Setting xx1800001443

Main Setting tab

Trigger/Filter Setting

Distribution Setting

Description

Allows you to define some basic settings for the operation, such as operation name, flow, source type.

For more information regarding Main Setting see the following section.

Allows you to define the trigger and filter setting for the operation.

For more information regarding Trigger/Filter Setting see the following section.

Allows you to define the distribution setting for the operation.

For more information regarding Distribution Setting see the following section.

Operation Name

Description

Allows you to rename the operation.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

125

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

Operation Type

Associated Conveyor

Select Flow

Select Hotspot

Detection Setting

Description

Show you the type of the operation. This is predefined when you add a conveyor work area.

Note

The type of the operation cannot be changed here.

You can only access to another kind of operation by click on that operation.

Show you the associated conveyor. This is predefined when you add a conveyor work area.

Allows you to select the flow you defined.

Allows you to select the hotspot you defined.

Source Type allows you to select the input signal source type:

• Vision : If the source type is set to Vision , a camera and vision models are used to find the object positions. The vision models are described in section

Adding vision model on page 245

Tip

If the source type is set to Vision , all available cameras and related items will be listed in the Available Camera .

• Predefined : If the source type is set to Predefined , the positions generated by the position source are statically defined and no camera is used.

Available Camera allows you to select the camera with your requirements for this operation.

Available Objects allows you to select the objects with your requirements for this operation.

Available Workareas allows you to select the work area with your requirements for this operation.

Every picking or placing operation must be associated with a properly configured work area. The item to be operated by this pick or place needs to be set in recipe. 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

126 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Trigger/Filter Setting

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued xx1800001444

Trigger Setting

Description

Select Trigger type to define when to generate new item positions.

If the trigger type is set to Distance the trigger distance must be defined in the Trigger distance box.

A distance trigger can only be used with a conveyor work area and the entered value is the distance the conveyor should move between consecutive triggers.

If the trigger type is set to I/O , the trigger distance are predefined.

CAUTION

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.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

127

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

Filter Setting

Description

In the Position Filter Distance part, define the minimum allowed distance between two item positions found by a camera or an external sensor.

For example, if two or more models are used to identify the same object, there might be one hit for each model at almost the same location. If two positions for the same item are closer in either x- or y-direction than the defined minimum item distance, only the position with the highest sort value will be sent to the robot controller. The sort value can be set for each vision model, see

Adding vision model on page 245

In the Overlap filter define the overlap distance.

For example, items can be identified in two consecutive frames due to the overlap. The models can have a small variation in the pick/place position between these frames. Items that are found in two consecutive frames and whose pick/place position between these two frames does not vary by more than the overlap filter distance will be regarded as one item. The first identified hit is sent to the robot, and any subsequent hit is filtered out.

Position filter

The position filter defines the minimum allowed distance between the different item positions found by a camera or an external sensor. For example, if two or more models are used to identify the same object, there might be one hit for each model at about the same location. If the two positions for the same item are closer in either X- or Y-direction the given minimum item distance, only the position with the highest sort value is sent to the robot controller. The sort value can be set for each vision model. For more details, see

Adding vision model on page 245 . If

Same level only is selected, the filtering will only be done between item positions with the same inspection level.

Note

The position filter is not used while predefined positions are used . The position filter is therefore disabled in the Position Source Configuration window when

Predefined is selected.

Overlap filter

Items can be identified in two consecutive frames due to the overlap. The models can have a small variation in the pick/place position between these frames. The items that are found in two consecutive frames and whose pick/place position between these two frames does not vary more than the overlap filter distance are regarded as one item.

Distribution Setting

By default all positions are sent to the same work area. It is possible to distribute item positions to more than one work area to balance the load between several robots or to guarantee that all positions are accessed.

Continues on next page

128 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

All positions for a specific item type are distributed to the robots by a single item distributor. There are four types of item distributors.

• Work area: The item positions are handled by a single conveyor or indexed work area.

• ByPass: The item positions are discarded, that is not handled by any work area. If no distributor is selected for an item type it will be considered as

ByPass.

• LB group: The item positions are handled by the work areas included in a load balance group. Aload balance group is a collection of Work area, ByPass, and ATC group distributors. Item positions will be distributed among the work areas in an optimal way to avoid sending two adjacent positions to the same work area.

• ATC group: Positions are handled by the work areas included in an Adaptive

Task Completion (ATC) group. An ATC group is a collection of ordered work areas that will get the same item positions. The first robot accesses as many positions as possible. The other robots in the ATC group will access any missed positions. If the last work area in the group is a conveyor work area with start and stop it is guaranteed that all positions will be accessed.

To use either load balancing or ATC the work areas must be arranged in the order that they occur after the position source (for example: the camera or sensor).

The work area that triggers the position source is set automatically. When starting a production, the work area for the robot that is first up and running is set to be the trigger work area. 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.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

129

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

The item distribution tree control shows the items for which positions are to be generated. Accepted and rejected items can be distributed differently.

Distribution

Load balance xx1800001445

Available Items

Distribution

Description

Show you the available items for this operation.

Allows you to set the distribution strategy as accept or Reject.

Available Distributor Show you the available distributor for this operation.

Item positions that are distributed by a load balance group are divided among the distributors in the group. A load balance group can contain any number of item distributors and a single distributor can appear several times. The ratio between the number of times a single distributor is added and the total number of distributors defines the ratio of the item positions that are sent by that particular distributor.

Item positions are arranged to the distributors in the group in an optimal way to avoid adjacent positions to be sent to the same work area.

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

130 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued balance groups. However, to achieve task completion, the load balance group should only contain ATC groups.

xx1800001446

Description

Load Balance Group Show you the created load balance group.

Available Distributor Show you the available distributor for this operation.

Create Group

Delete Group

Allows you to create a load balance group.

Allows you to delete a load balance group.

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

131

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

ATC

Adaptive Task Completion guarantees the item positions to be accessed by any robot in an ATC group. An ATC group contains ordered work areas and a single work area is allowed to exist once in a group. All item positions distributed to an

ATC group are sent to every work area in the group and the positions not accessed by the first work area will be accessed by any of the other work areas. If the last work area is on a conveyor with start and stop it is guaranteed that all item positions will be accessed by one of the robots in the ATC group.

xx1800001447

Adaptive Task Completion

Group

Available Distributor

Create Group

Delete Group

Description

Show you the created adaptive task completion group.

Show you the available distributor for this operation.

Allows you to create a adaptive task completion group.

Allows you to delete a adaptive task completion group.

Continues on next page

132 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Procedure

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

On the PickMaster PowerPac ribbon-tab, click Layout .

xx1800001438

Use this procedure to add a recipe:

1 On the ribbon-tab, click Recipe .

xx1800001438

The Recipe window opens.

xx1800001439

2 Click on the Pick Operation1 to open the setting window for the pick operation.

3 Select the Source Type according to your requirements.

Note

Predefined in the Source Type and Flow cannot be selected together.

4 If need, click to select the cameras in Available Camera .

5 If need, click to select the applicable flow in Select Flow .

6 Click to select the item in Available Objects .

7 Click to select the work area in Available Workareas .

Continues on next page

133 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.9 Adding Recipe

Continued

8 In the Trigger/Filter Setting tab, define the trigger or filter setting according to your requirements.

9 In the Distribution tab, drag distributors from the Available distributors list to the Distribution list.

There can be only one distributor for each item type. If an item type is missing a distributor, it will be regarded as ByPass.

10 If using load balancing, in the Load balance tab, drag a distributor from the

Available distributors list to a group in the list Load balance groups .

To create a new load balance group, double-click <New LbGroup> in the

Available distributors list.

Select rebalancing strategy.

11 If using Adaptive Task Completion, in the ATC tab, drag a work area from the Available work areas list to the Adaptive Task Completion groups list.

12 Click OK .

The window is closed.

Redistributing items from one robot to downstream robots

It is possible to modify the distribution of alredy distributed item positions when they enter a conveyor work area of a robot. The Rapid program, that controls the robot, based on current flow conditions decides to skip an item position and change the type of it. As a result, PickMaster PowerPac will redistribute the item position to downstream robots according to the configured distribution strategy for the selected item type.

134 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.10 Adding Flow

4.2.10 Adding Flow

Overview

A flow is used to define how the items and containers are to be generated in the simulation. A flow is attached to a hot spot on a conveyor or an indexed work area in the job configuration. When attaching the flow, the hot spot becomes a source from where items and containers appear in the simulation according to the flow configuration. Following are the two types of flows:

• Layout: A Layout flow is a predefined layout that is periodically regenerated at the hot spot. The layout may have some random variation regarding the locations of items or containers and the availability of them. The layout may consists of different items or container patterns.

• Recorded: A recorded flow is a recording of a sensor from a real solution in operation. The recording is exported from PickMaster PowerPac as an xml file having information of all the detected items and containers during a time interval. 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

Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

Continues on next page

135

4 Working with PickMaster PowerPac

4.2.10 Adding Flow

Continued

Add Rectangle Flow

Item/Containers xx1900000581

Description

Item/Containers Allows you to add items and containers for the flow.

For more information regarding Item/Containers see the following section.

Flow properties Allows you to define the flow.

For more information regarding Flow properties see the following section.

xx1900000580

Name

Description

Allows you to rename the flow.

Add item Allows you to add an item for the flow.

Add pattern 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

136 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.10 Adding Flow

Continued

Flow properties xx1900000583

Flow Type

Layout Regenerate

Dist

Conveyor Speed

Description

Allows you to choose the type the flow.

LAYOUT : the position of the items and containers in the flow.

Recorded : run a simulation according to the recorded position of the items and containers.

GhostPicking : run a production according to the recorded position of the items and containers without entities.

The distance between consecutive flow layouts generated on a conveyor. Not used with recorded flows.

When select this radio button, you can change the speed of the conveyor when the flow is assigned to a conveyor.

Throughput

Note

You can only choose one from Conveyor Speed and Throughput .

When select this radio button, you can change the item throughput of the conveyor when running the flow.

Note

You can only choose one from Conveyor Speed and Throughput .

Stability

Position Stability

Orientation Stability

If set to 100%, the generated items always have correct position. A lower value defines the probability that an item gets the correct position.

If set to 100%, the generated items always have correct orientation.

A lower value defines the probability that an item gets correct orientation.

X pos dev min/max

If set to 100%, all the items in the layout are generated on every trigger without losses. A lower value defines the probability that an item in the layout is generated.

Y pos dev min/max

Defines the minimum and maximum deviation of the X position from the correct value.

Defines the minimum and maximum deviation of the Y position from the correct value.

Continues on next page

137 Application manual - PickMaster® Twin - PowerPac

3HAC064218-001 Revision: B

4 Working with PickMaster PowerPac

4.2.10 Adding Flow

Continued

Z pos dev min/max

Rejection Ratio

Layout Size

Description

Defines the minimum and maximum deviation of the Z position from the correct value.

Defines the probability that an item becomes rejected by a camera.

If set to 0%, the item setting “Rejected” in the Layout will decide if the item is rejected.

Allows you to edit the size of the layout.

Edit Layout allows you to edit the selected flow.

For more information regarding Edit Layout see the following section.

Edit Layout xx1900000584

Layer ID

Description

Allows you to rename the layer.

Pattern Template Allows you to select a predefined pattern template.

Available Objs