# Prepared for PickMaster option  \[PickMaster 3\]

**URL:** <https://tech-community.robotics.abb.com/t/prepared-for-pickmaster-option-pickmaster-3/1915>\
**Category:** PickMaster\
**Created:** [June 3, 2008, 5:57am UTC](https://tech-community.robotics.abb.com/t/prepared-for-pickmaster-option-pickmaster-3/1915 "2008-06-03T05:57:05Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![Gizmo](https://avatars.discourse-cdn.com/v4/letter/g/7feea3/32.png) [@Gizmo](https://tech-community.robotics.abb.com/u/Gizmo)\
**Post date:** [June 3, 2008, 5:57am UTC](https://tech-community.robotics.abb.com/t/prepared-for-pickmaster-option-pickmaster-3/1915/1 "2008-06-03T05:57:05Z")

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Hi,

We have an IRB140 that has the “Prepared for PickMaster” option enabled in the RobotWare key, however now I don’t want to use PickMaster on this robot.

Can I use this robot with my own Rapid program or do I need to obtain a Robotware key that doesn’t include Prepared for PickMaster?

The reason I ask is if the system is built with Prepared for PickMaster, then I’ll get the encrypted ppaBase system module. As it’s encrypted I don’t know what’s going on inside it (for example PowerOnEvent, ResetEvent, RestartEvent) and if it will interfere in anyway with the rest of the system.

We will also have two FlexPickers in the same machine running off PickMaster.

Cheers,

Alistair.

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**Author:** ![AndersL](https://avatars.discourse-cdn.com/v4/letter/a/8baadc/32.png) [@AndersL](https://tech-community.robotics.abb.com/u/AndersL)\
**Post date:** [June 3, 2008, 2:05pm UTC](https://tech-community.robotics.abb.com/t/prepared-for-pickmaster-option-pickmaster-3/1915/2 "2008-06-03T14:05:51Z")

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Hello,

it should be possible for you to modify your system on the PC (without having a new Robotware key), using the system builder in RSO, Modify + unklicking the prepared for Pickmaster option.

BR Anders

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**Author:** ![AndersL](https://avatars.discourse-cdn.com/v4/letter/a/8baadc/32.png) [@AndersL](https://tech-community.robotics.abb.com/u/AndersL)\
**Post date:** [June 3, 2008, 2:18pm UTC](https://tech-community.robotics.abb.com/t/prepared-for-pickmaster-option-pickmaster-3/1915/3 "2008-06-03T14:18:03Z")

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On second thought, if removing Pickmaster option, you might need to add the standard conveyor tracking option since the conveyor tracking functionality is included in the Pickmaster option. this would require a new key…

/Anders

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<div class="post-metadata">

**Author:** ![Gizmo](https://avatars.discourse-cdn.com/v4/letter/g/7feea3/32.png) [@Gizmo](https://tech-community.robotics.abb.com/u/Gizmo)\
**Post date:** [June 3, 2008, 9:43pm UTC](https://tech-community.robotics.abb.com/t/prepared-for-pickmaster-option-pickmaster-3/1915/4 "2008-06-03T21:43:22Z")

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Hi Anders, thanks for the advice.

By suggesting using the standard conveyor tracking option, does this imply leaving the PickMaster option in would or could cause problems?

Thanks,

Alistair.

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**Author:** ![Erik\_S](https://avatars.discourse-cdn.com/v4/letter/e/58956e/32.png) [@Erik\_S](https://tech-community.robotics.abb.com/u/Erik_S)\
**Post date:** [June 3, 2008, 10:46pm UTC](https://tech-community.robotics.abb.com/t/prepared-for-pickmaster-option-pickmaster-3/1915/5 "2008-06-03T22:46:56Z")

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The “Conveyor Tracking” and “Prepared for PickMaster” options are mutual exclusive. Hence, you may only use either of them at any time.

BR, Erik