Optional. Can be used to carry additional item specific information, for example,
from a user hook. It is of data type float.
val5
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.
Examples
Example 1
CONST itmtgt pickpos :=
[1,2,1,0,0,0,0,0,[[20,40,8],[1,0,0,0],[0,0,0,0],
[9E+9,9E+9,9E+9,9E+9,0,0]]];
A pick position is defined. The external axis related to the used conveyors must
be set to zero, that is not marked as unused (by stating 9E+9). Example: if you
have two conveyors, set the two last external axis positions to zero.
Structure
<dataobject of itmtgt>
<tag of num>
<type of num>
<scene of num>
<val1 of num>
<val2 of num>
<val3 of num>
<val4 of num>
<val5 of num>
<dataobject of robtarget>
<trans of pos>
<x of num>
<y of num>
<z of num>
<rot of orient>
<q1 of num>
<q2 of num>
<q3 of num>
<q4 of num>
<robconf of confdata>
<cf1 of num>
<cf4 of num>
<cf6 of num>
<cfx of num>
<extax of extjoint>
<eax_a of num>
<eax_b of num>
<eax_c of num>
<eax_d of num>
<eax_e of num>
<eax_f of num>
Continues on next page
Application manual - PickMaster® Twin - PowerPac 385
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
6 RAPID reference
6.3.1 itmtgt - Item target data
Continued
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