ABB PickMaster Twin - PowerPac Applications Manual page 378

6 RAPID reference
6.1.9 UseReachableTargets - Use reachable targets
RobotWare - OS
Continued
Limitations
If the robot work area is limited in motion configuration, there is a possibility that
targets upto 20 mm outside of the working area perpendicular to the conveyor
moving direction, may be retrieved by the GetItmTgt instruction.
A work around to avoid the outside reach errors is to put an extra check on the
Y-value of the itemtarget before moving towards it.
378
[UsageTime ':=' ] <var or pers (IN) of num>
[\ReleaseTime ':=' ] <expression (IN) of num>;
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B