ABB PickMaster Twin - PowerPac - Data Types; Itmtgt - Item Target Data

6.3 Data types
6.3.1 itmtgt - Item target data
Usage
itmtgt is used to describe one pick or place item.
Description
Itmtgt identifies an item to pick or place. It contains the position and some
additional data.
Components
tag
Data type: num
Sequential number identifying the item. Can be modified by a user hook for free
usage. Is restricted to integer values.
type
Data type: num
Type of item.
scene
Data type: num
Sequential number identifying the scene, corresponding for example to a picture
taken by the vision system.
robtgt
Data type: robtgt
The pick or place position.
val1
Data type: num
Optional. Can be used to carry additional item specific information, for example,
from a user hook. It is of data type float.
val2
Data type: num
Optional. Can be used to carry additional item specific information, for example,
from a user hook. It is of data type float.
val3
Data type: num
Optional. Can be used to carry additional item specific information, for example,
from a user hook. It is of data type float.
val4
Data type: num
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384 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
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6 RAPID reference
6.3.1 itmtgt - Item target data