ABB PickMaster Twin - PowerPac, Applications Manual

Page: 367 / 454

Specifies maximum value for
itmtgt
parameter Val2. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val3Min]
Data type:
num
Specifies minimum value for
itmtgt
parameter Val3. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val3Max]
Data type:
num
Specifies maximum value for
itmtgt
parameter Val3. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val4Min]
Data type:
num
Specifies minimum value for
itmtgt
parameter Val4. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val4Max]
Data type:
num
Specifies maximum value for
itmtgt
parameter Val4. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val5Min]
Data type:
num
Specifies minimum value for
itmtgt
parameter Val5. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val5Max]
Data type:
num
Specifies maximum value for
itmtgt
parameter Val5. The instruction waits until
an item target fulfilling this condition is available for execution.
Program execution
If there is no item target in buffer or any item targets available in the working area,
the program execution waits in this instruction until an item is considered as inside
the working area.
If the
MaxTime
argument is specified then the wait time is supervised. If the waiting
time exceeds the value of
MaxTime
and the
TimeFlag
argument is used, then the
program will continue. If
TimeFlag
is not used, then an error is raised. If
TimeFlag
is specified, it will be set to TRUE if the time is exceeded, otherwise it will be set
to
FALSE
.
The
Limit
argument modifies the limit from where the item target shall be received.
If the
SortData
argument is specified the instruction will return the item target
that is the closest to the exit limit in x-direction and depending of the absence of
other objects in direction of the sorting, the first object in the sort direction will be
selected. The
CheckBoundry
distance defines the required clearance distance
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Application manual - PickMaster® Twin - PowerPac 367
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.1.3 GetItmTgt - Get the next item target
Continued