Nextitmtgttype - Get The Type Of The Next Item Target - ABB PickMaster Twin - PowerPac Applications Manual

6 RAPID reference

6.1.4 NextItmTgtType - Get the type of the next item target

6.1.4 NextItmTgtType - Get the type of the next item target
Usage
NextItmTgtType is used to get the type of the next item target (itmtgt) in the
item source buffer. If the Limit distance parameter is given, the instruction will
return the type of the next item target above the limit. The RAPID program waits
in this instruction until there is an item in this queue.
Basic examples
Retrieves the type of the next itmtgt in the PlaceSource.
Arguments
ItemSource
Data type: itmsrc
The item source that the item target type should be retrieved from.
ItemType
Data type: num
The retrieved item target type.
[\Limit]
Data type: num
This is the limit from where the type is retrieved. The instruction will return the type
of the next item target above this limit. If this argument is excluded, the instruction
will return the type of the next item target above the exit limit.
The distance is calculated 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
conveyor.
This argument is only valid when a conveyor is used.
[\MaxTime]
Data type: num
The maximum waiting time permitted, expressed in seconds. If this time runs out
before the item target is retrieved and no TimeOut flag is given, the error handler
will be called with the error code ERR_PPA_TIMEOUT. If there is no error handler,
the execution is 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 retrieved. 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 only used if the MaxTime argument is used.
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NextItmTgtType PlaceSource, PlaceType
NextItmTgtType ItemSource ItemType [\Limit] [\MaxTime] [\TimeFlag]
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B