Here's a simple example of a picking program in ABB RobotStudio using RAPID programming. This program picks up an object from one location and places it at another.

RAPID Code Example: Pick and Place

MODULE PickAndPlace
 VAR robtarget pickPos := [[500, 200, 50], [1,0,0,0], [0,0,1,0]];
 VAR robtarget placePos := [[800, 200, 50], [1,0,0,0], [0,0,1,0]];
 
 VAR speeddata v100 := [100,100,50,100]; ! Speed
 VAR zonedata fine := [0,0,0,0,0,0,0]; ! Precise positioning
 VAR tooldata gripper := [TRUE, [[0,0,50],[1,0,0,0]], "Tool0"];
 
 PROC main()
 MoveJ pickPos, v100, fine, gripper; ! Move to pick position
 SetDO gripper, 1; ! Close gripper (pick object)
 WaitTime 0.5; ! Wait for secure grip
 
 MoveJ placePos, v100, fine, gripper; ! Move to place position
 SetDO gripper, 0; ! Open gripper (release object)
 WaitTime 0.5; ! Wait
 
 MoveJ pickPos, v100, fine, gripper; ! Return to pick position
 ENDPROC
ENDMODULE

Explanation

1. Defines positions (

   pickPos

   and

   placePos

   ).
2. Sets speed and accuracy (

   v100

   for speed,

   fine

   for precision).
3. Uses a gripper tool (

   tooldata gripper

   ).
4. Executes movements:
   • Moves to the pick position.
   • Activates the gripper to pick the object.
   • Moves to the place position.
   • Releases the object.
   • Returns to the pick position.

This program can be loaded into ABB RobotStudio and executed on a virtual or real robot.