ABB PickMaster Twin - PowerPac Applications Manual page 367

Specifies maximum value for itmtgt parameter Val2. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val3Min]
Data type: num
Specifies minimum value for itmtgt parameter Val3. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val3Max]
Data type: num
Specifies maximum value for itmtgt parameter Val3. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val4Min]
Data type: num
Specifies minimum value for itmtgt parameter Val4. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val4Max]
Data type: num
Specifies maximum value for itmtgt parameter Val4. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val5Min]
Data type: num
Specifies minimum value for itmtgt parameter Val5. The instruction waits until
an item target fulfilling this condition is available for execution.
[\Val5Max]
Data type: num
Specifies maximum value for itmtgt parameter Val5. The instruction waits until
an item target fulfilling this condition is available for execution.
Program execution
If there is no item target in buffer or any item targets available in the working area,
the program execution waits in this instruction until an item is considered as inside
the working area.
If the MaxTime argument is specified then the wait time is supervised. If the waiting
time exceeds the value of MaxTime and the TimeFlag argument is used, then the
program will continue. If TimeFlag is not used, then an error is raised. If TimeFlag
is specified, it will be set to TRUE if the time is exceeded, otherwise it will be set
to FALSE.
The Limit argument modifies the limit from where the item target shall be received.
If the SortData argument is specified the instruction will return the item target
that is the closest to the exit limit in x-direction and depending of the absence of
other objects in direction of the sorting, the first object in the sort direction will be
selected. The CheckBoundry distance defines the required clearance distance
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.1.3 GetItmTgt - Get the next item target
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