Getitmtgt - Get The Next Item Target - ABB PickMaster Twin - PowerPac Applications Manual

6 RAPID reference

6.1.3 GetItmTgt - Get the next item target

6.1.3 GetItmTgt - Get the next item target
Usage
GetItmTgt is used to get the next available itmtgt in the item source queue
between the enter and the exit limit of the work area. The RAPID program waits in
this instruction until the next item is possible to reach or the timeout occurs.
Basic examples
Basic examples of the instruction GetItmTgt are illustrated below.
Example 1
Receives a place item from the PlaceSource when there is one that can be used.
Example 2
Retrieves a pick item from the PickSource with negative y-sorting and type request.
The type is alternating between two types. The Limit argument tells from where
to start the search.
In the example graphic below, the sorting is in positive x-direction, negative
y-direction, and operating on two different object types. The two object types should
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GetItmTgt PlaceSource, PlaceItem;
...
VAR selectiondata neg_y_sort;
neg_y_sort.ShapeType:=BOX;
neg_y_sort.ConsiderType:=BitOr(ITEMS_TO_USE,ITEMS_BYPASS);
neg_y_sort.GeometricData.x:=60;
neg_y_sort.GeometricData.y:=500;
neg_y_sort.GeometricData.z:=10;
neg_y_sort.GeometricData.radius:=0;
neg_y_sort.Offset.OffsetRelation:=FRAME_COORD_DIR;
neg_y_sort.Offset.OffsetPose.trans.x:=0;
neg_y_sort.Offset.OffsetPose.trans.y:=-500;
neg_y_sort.Offset.OffsetPose.trans.z:=0;
neg_y_sort.Offset.OffsetPose.rot.q1:=1;
neg_y_sort.Offset.OffsetPose.rot.q2:=0;
neg_y_sort.Offset.OffsetPose.rot.q3:=0;
neg_y_sort.Offset.OffsetPose.rot.q4:=0;
IF pick_type = 2 THEN pick_type := 1; ELSE
pick_type := 2
ENDIF
GetItmTgt PickSource, PickItem \ItemType:=pick_type \Limit:=100
\Selection:=neg_y_sort;
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B