before they enter robot reach. Then, the targets remain available for use until they
leave the release zone.
Arguments
UseReachableTargets ItemSource, Enable, UsageTime [\ReleaseTime]
Item Source
ItemSource
Data type: itmsrc
The item source where UseReachableTargets is activated.
Enable
Enable
Data type: bool
This activates/deactivates UseReachableTargets.
Usage Time
UsageTime
Data type: num
The expected usage time of the targets. This is the time between receiving the
target with GetItmTgt, until the object is handled (for example picked) by the robot
(acknowledge time). The actual usage time is continuously measured and the
maximum measured usage time can be received with GetMaxUsageTime. To avoid
reach errors, the UsageTime value should be defined as a sum of the maximum
measured usage time and a margin. For example, set UsageTime = Maximum
measured usage time + 0.1 second. The drawback of having a large safety margin
is an unnecessary reduction of the target release zone, which may decrease the
pick rate.
[\ReleaseTime]
Release Time
Data type: num
The ReleaseTime defines the time when the targets enter the release zone, before
entering robot reach. If the value is negative, targets enter the release zone after
they enter robot reach. A value of 0.1 or less is recommended to avoid reach errors.
A higher value can be useful to handle high speed conveyors. The drawback of a
higher value is an increasing risk of having upstream reach errors at low speeds.
Note
It is possible to change UsageTime or ReleaseTime at any time. For example, a
temporary reduction in the robot speed requires a longer usage time to avoid
reach errors.
Syntax
UseReachableTargets
[ItemSource ':=' ] <variable (VAR) of itmsrc>,
[Enable ':=' ] <var or pers (IN) of bool>
Continues on next page
Application manual - PickMaster® Twin - PowerPac 377
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.1.9 UseReachableTargets - Use reachable targets
RobotWare - OS
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