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G FlexLoader Library Add-in reference
G.2.5 MT_GetPartState - Gets current part state of a part in specific tracker
RobotWare - OS
G.2.5 MT_GetPartState - Gets current part state of a part in specific tracker
Usage
MT_GetPartState is used to get the part state of a part in a specific part tracker.
This is normally a faster way to fetch the state than using MT_GetPartInfo.
Basic examples
The following example illustrates the function MT_GetPartState.
Example 1
Take some actions if the part in robot gripper 1 is a raw part.
Return value
Data type: mtpartstate
Arguments
\Station
Data type: mtstationdata
The station data which part state data should be fetched in.
\StationName
Data type: string
Name of the station data declaration as a string. Through this name the correct
mtstationdata definition will be found and the corresponding part tracker where
part state data should be fetched.
\Index
Data type: num
Index number of the part tracker fetch state from. Note, each station can have up
to 20 trackers.
250
PERS mtstationdata sdRobot;
PERS num GRIPPER_1:=1;
IF MT_GetPartState(\Station:=sdRobot,\Index:=GRIPPER_1)=psRAW THEN
!Do actions if raw part
ENDIF
MT_GetPartState ([\Station] | [\StationName] [\Index])
© Copyright 2014-2020 ABB. All rights reserved.
Product manual - FlexLoader SC 6000
3HAC051768-001 Revision: D
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