ABB PickMaster Twin - PowerPac Applications Manual page 366

6 RAPID reference
6.1.3 GetItmTgt - Get the next item target
Continued
will be called with the error code ERR_PPA_TIMEOUT. If there is no error handler,
the execution will be stopped.
[\TimeFlag]
Data type: bool
The output parameter that contains the value TRUE if the maximum permitted
waiting time runs out before an item target is received. If this parameter is included
in the instruction, it is not considered to be an error if the max time runs out. This
argument is ignored if the MaxTime argument is not included in the instruction.
[\ItemType]
Data type: num
Specifies which item type number is requested. The instruction waits until an item
target with the requested type number is available to be executed.
[\Limit]
Data type: num
Modifies the distance from where the item target is received. The instruction will
return the next item target above this limit. If this argument is excluded, the
instruction will return the next item target above the exit limit.
The distance is specified in millimeters from the center of the robot. The value is
positive if the limit is beyond the center of the robot, in the moving direction of the
feeder. This argument is only valid when a conveyor is used.
[\SortData]
Data type: sortdata
This data structure defines how the items shall be sorted.
[\Selection]
Data type: selectiondata
This data structure defines how the items are selected.
[\Val1Min]
Data type: num
Specifies minimum value for itmtgt parameter Val1. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val1Max]
Data type: num
Specifies maximum value for itmtgt parameter Val1. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val2Min]
Data type: num
Specifies minimum value for itmtgt parameter Val2. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val2Max]
Data type: num
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366 Application manual - PickMaster® Twin - PowerPac
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3HAC064218-001 Revision: B