ABB PickMaster Twin - PowerPac Applications Manual page 368

6 RAPID reference
6.1.3 GetItmTgt - Get the next item target
Continued
around an object. The sorting will check both upwards and downwards the
production flow for presence of other item targets. If this argument is combined
with the Limit argument the sorting algorithm will also take all objects between
the limit and the exit limit into consideration when checking the safety distance for
the nearest objects. If more than one robot is used in a shared position source
system, that is load balancing or ATC, we strongly recommend using the Selection
argument instead with a proper selection data, as SortData does not take items
that are bypassing in consideration when sorting.
If the Selection argument is specified, the instruction will return the item target
that is the closest to the exit limit in x-direction, which has no other item targets
inside the specified shape. If this argument is combined with the Limit argument
the selection algorithm will also take all objects between the limit and the exit limit
into consideration when checking the distance for the nearest objects. This is
highly recommended to avoid collisions.
If values are specified for the optional arguments Va1Xmin or Va1Xmax, the
instruction will return an item target that fulfills the required maximum and minimum
values for Va1X.
Error handling
The following recoverable errors can be generated. The errors can be handled in
an error handler. The system variable ERRNO will be set to:
Error code
ERR_ITMSRC_UNDEF
ERR_PPA_TIMEOUT
Syntax
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Description
itmsrc undefined.
Timeout without any error flag.
GetItmTgt
[ItemSource ':=' ] <variable (VAR) of itmsrc>,
[ItemTarget ':=' ] <var or pers (INOUT) of itmtgt>
[\MaxTime ':=' ] <expression (IN) of num>
[\TimeFlag ':=' ] <var or pers (INOUT) of bool>
[\ItemType ':=' ] <expression (IN) of num>
[\Limit ':=' ] <expression (IN) of num>
[\SortData ':=' ] <expression (IN) of sortdata>
[\Selection ':=' ] <expression (IN) of selectiondata>
[\Val1Min ':=' ] <expression (IN) of num>
[\Val1Max ':=' ] <expression (IN) of num>
[\Val2Min ':=' ] <expression (IN) of num>
[\Val2Max ':=' ] <expression (IN) of num>
[\Val3Min ':=' ] <expression (IN) of num>
[\Val3Max ':=' ] <expression (IN) of num>
[\Val4Min ':=' ] <expression (IN) of num>
[\Val4Max ':=' ] <expression (IN) of num>
[\Val5Min ':=' ] <expression (IN) of num>
[\Val5Max ':=' ] <expression (IN) of num>;
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B