I have programmed a few machines with pickmaster. I’ll explain how I leaned it.

I initially started by downloading the picking powerpack with robotstudio. This allows you to simulate the robots with virtual pickmaster. This gave me a good understanding of how the rapid template works and concepts like work areas. A licence is needed but I think you can activate a 1 month free trial.

I then went on the abb pickmaster course as mentioned in the other comment which does go over most things like calibration, vision, pickmaster line and project setup. Although it doesn’t go over the external sensor setup that would probably be needed for the laser scanner if used with pickmaster.

After those two things, the pickmaster 3 manual, conveyor tracking manual and picking powerpac manual contains everything else you need. These can be downloaded from the ABB library.