release notes abb

ABB RoboticsPRU

SEROPTitleRelease Notes Picking PowerPac6.01

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PSDepartment

DMRO/QMPPDate

2015-05-22FilenameRelease Notes PkPP6.01.doc

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1/8Author, telephone

Anders Trillkott, +46 21 344863

Table of Content

RELEASE INFORMATION ..................................................................................................................................... 2

Release Name .................................................................................................................................................................... 2

Release Date ...................................................................................................................................................................... 2

Option number ................................................................................................................................................................. 2

General.............................................................................................................................................................................. 3

Information PkPP6.01 ...................................................................................................................................................... 4

New functionality PkPP6.01 ............................................................................................................................................. 5

Improvements PkPP6.01 .................................................................................................................................................. 6

Error Corrections PkPP6.01 ........................................................................................................................................... 7

Product Defect Document PkPP6.01 PDD ............................................................................................................. 8

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Release Information

The information should be considered as last minutes information and most up-to-date.For more information please visit Robot Release Information (RRI) Homepage:

http://roboticsportal.se.abb.com/prod/!display?action=page&id=351

Release Name

Release name: Picking PowerPac 6.01 for PickMaster™3

Release contains following:

q Picking PowerPac 6.01 build 0041q Virtual PickMaster 3.50

Release Date

Release date 2015-05-22

Option number

Option number: 1121-1 Picking PowerPac

http://roboticsportal.se.abb.com/prod/!display?action=page&id=351

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General

Picking PowerPac is a RobotStudio add-in, extending RobotStudio with picking functionality, which enablesyou to do offline programming and simulation of PickMaster controlled picking lines.

Hardware requirements

• CPU: 2.0 GHz or faster processor. Multicore processor is recommended.• Memory: 8 GB RAM or more• Free disk space: 5 GB or more recommended• Graphics card: High performance DirectX 11 graphics card with support for feature level 10_1 or higher.• Display settings: 1920 x 1200 pixels recommended• DPI: Normal size (100% / 96 dpi) up to Larger size (150% /144 DPI)• Mouse: Three-button mouse• 3D Mouse (optional): Any 3D mouse from 3DConnexion. See http://www.3dconnexion.com

Software requirements

• Windows 7 or Windows 8 operating system• RobotStudio 6.01 or above• RobotWare 6.01 or above• Virtual PickMaster 3.50 or above

Picking PowerPac is compatible with PickMaster 3.43 or above for:

• Export of PickMaster configuration• Import of recorded flows

http://www.3dconnexion.com/

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Information PkPP6.01

Simulation fails after loading an old RS station or P&GTo work around this problem:* Press the Reset button in the Picking tab (reset simulation).* Save the station* Restart the Robot Studio application* Reload the station

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New functionality PkPP6.01

Handling of rejected items in simulationNow it’s possible to program and simulate handling of items that are rejected by a camera.When defining a flow, it is possible to select a rejection ratio (%) for incoming items.Alternatively, rejection can be selected for individual items in a layout flow.Rejection handling also works with recorded flows if the recording was made with PM3.50 or later version.In simulation, rejected items and containers are marked with a rejection symbol.

Camera spotlight indicates image aquisition.A camera spotlight indicates image aquisition in Advanced Lighting mode.To enable, go to the home tab select Graphic Tools, select Advanced Lighting.The spotlight is enabled by default but can be disabled in the Graphics tree view.

Item groups (PDD3705)New programming object:An item group is a layout of multiple items that is picked or placed as a group with a picking tool.

By defining item groups, the following robot operations can be setup and simulated:

1) Pick an item group, place the item group.2) Pick multiple items one by one, place the item group.3) Pick an item group, place the items one by one.

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Improvements PkPP6.01

Improved placingImprovements for placing of items in simulation:Attachment is made to a nearby conveyor belt if a nearby place location is missing.Improved default timing for releasing items when placing.Improved placing in multi layered container patterns.

Default tool mass (PDD3356)Default load has been introduced in tool properties. It is used by default when adding new picking tools.

Default values: Mass = 1.0 kg, center of gravity = 0, 0, 0.1, inertia = 0, 0, 0.

Ignore item orientation (PDD3693)Possibility to ignore the orientation of camera detected items.There is a new item property, Ignore orientation.

When the property is selected, picking of camera detected items will always be made with the sameorientation of the robot tool.

As a consequence, the item orientation in the gripper and at the place location will become affected by theactual orientation of the item when being picked up.

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Error Corrections PkPP6.01

Outside reach errors on indexed work areasFor some combinations of base frames and task frames, the robot would indicate that (reachable) positionswere outside reach. The problem was caused by a miscalculated work object and has now been corrected.

Application crashes during simulationCorrections to prevent sporadic application crashes during simulation of large systems with 8-10 robots.Virtual PickMaster 3.50 is required.

Unused work areas or robotsCorrection to handle simulation of jobs where some work areas or robots are unused.

Possible to use a layout saved in the libraryNow it’s possible to reuse a layout saved in the library. It can as well be imported into Container patterns.

Container statisticsInitial container statistics at simulation start corrected.Container statistics activated for indexed work areas.

The correction requires usage of RobotWare 6.01 or later.

Picking from container patternsCorrection to handle picking from multi layered container patterns.Correction in the flow generation of container patterns for picking.

Single placing of multiple products (PDD3705)Correction to simulate single placing of multiple products.

In previous releases the detach position of the items would become wrong

New programming object:

An item group is a layout of multiple items that can be picked and placed as one unit or as individual items.The item group is equivalent to an item. It can be added to container patterns, flows and jobs.The item group can be defined as assembled. An assembled item group can be picked up and placed witha single tool activator. If the item group not is assembled, the items are picked one-by-one. Picking up anunassembled item group requires multiple tool activators or multiple pick operations.

When multiple items shall be picked one-by-one and placed together, the included items are added to thejob and selected for picking. Additionally, an item group is defined that represents the place pattern aspicked up in the robot tool. The item group is added to the job and selected for placing.

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Product Defect Document PkPP6.01 PDDDefault tool mass PDD3356Ignore item orientation PDD3693Single placing of multiple products PDD3705

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