Rapid Reference; Instructions; Ackitmtgt - Acknowledge An Item Target - ABB PickMaster Twin - PowerPac Applications Manual

6 RAPID reference

6.1 Instructions

6.1.1 AckItmTgt - Acknowledge an item target

Usage
AckItmTgt is used to acknowledge that an itmtgt received with GetItmTgt
from an item source has been used (For example, handled by the robot, skipped
or put back in the queue for later usage). Normally, acknowledge is setup as a
TriggL event on the path (using the Ack or Nack triggdata from sourcedata) to
make sure acknowledge does not occur before any movements related to the target
has been finished. However, if the received itmtgt shall be skipped or put back
in the queue for later usage, movements related to the target may not be needed.
Then it is convenient to use this instruction instead. Only after the acknowledge
has been made, a new itmtgt can be fetched from the item source.
Basic example
Arguments
ItemSource
Data type: itmsrc
The item source from where the item target has been received with GetItmTgt.
ItemTarget
Data type: itmtgt
The item target to acknowledge.
Acknowledge
Data type: bool
The status of acknowledge. TRUE if the itmtgt has been handled (picked or
placed)by the robot and FALSE otherwise, in which case the itmtgt is put back
into the queue.
Skip
Data type: bool
Indicates if the itmtgt shall be skipped. If set to TRUE it will not be possible to
receive the itmtgt again with GetItmTgt. If combined with Acknowledge =
FALSE the itmtgt will be passed on for possible handling by downstream robots.
If combined with Acknowledge = TRUE, skip will have no effect. If Skip is set to
FALSE the itmtgt will either be considered as handled by the robot (when
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
VAR itmtgt PlaceTarget;
GetItmTgt ItmSrcData{Index}.ItemSource, PlaceItem;
AckItmTgt ItmSrcData{Index}.ItemSource, PlaceItem, FALSE
\Skip:=TRUE;
AckItmTgt ItemSource ItemTarget Acknowledge [\Skip] [\Type]
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6 RAPID reference
6.1.1 AckItmTgt - Acknowledge an item target
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