ABB PickMaster Twin - PowerPac, Руководство по применению

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6.3.2 selectiondata - Selection data
Usage
selectiondata
is used to describe the selection criteria. It is also used to describe
item sorting.
Description
selectiondata
is used to set the criteria for sorting and clearance area when
retrieving item targets from an item source.
Components
ShapeType
Data type:
shapetype
Specifies the shape of the clearance area that should be used.
•
SHAPE_UNDEFINED
specifies that no selection is used.
•
BOX
specifies that there must be a clear box shape around the item target
position where no other item targets are present.
•
CYLINDER
specifies there must be a clear cylinder shape around the item
target position where no other item targets are present.
•
SPHERE
specifies that there must be a clear sphere shape around the item
target position where no other item targets are present.
ConsiderType
Data type:
aconsidertype
Specifies which items in the queue that should be taken in consideration when
selecting.
•
ITEMS_TO_USE
specifies that only items marked for use by this queue are
considered in the selection.
•
ITEMS_BYPASS
specifies that only items marked to pass by this queue are
considered in the selection.
•
ITEMS_PICKED
specifies that only items marked as already picked, by this
queue or by a former queue in the line, are considered in the selection.
•
ITEMS_PLACED
specifies that only items marked as already placed, by this
queue or by a former queue in the line, are considered in the selection.
If items with different marks should be taken into consideration when selecting an
item, then use a bit-or operation with the consideration types. (RAPID function
BitOr(<byte>,<byte>)
.)
GeometricData
Data type:
geodata
The data that defines the geometric shape dimensions (x, y, z and radius).
• A
BOX
shape is defined by the x, y, and z-values.
• A
CYLINDER
shape is defined by the radius value and the height is defined
by the z-value.
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Application manual - PickMaster® Twin - PowerPac 387
3HAC064218-001 Revision: B
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6 RAPID reference
6.3.2 selectiondata - Selection data