Double pick w/Y selection [PickMaster 3]

PickMaster
1

I have a double pick, single place application. When I make my first pick, I want to make sure that the PickTarget.RobTgt.trans.y < 150. When I make my second pick, I want to make sure that the PickTarget.RobTgt.trans.y > -150. I will also add in some angle restrictions later.

I have been able to use an IF statement to look at the position, and if the Y is out of range, then I am using a TriggL with the ItmSrcData{Index}.Ack to move to a bogus position and acknowledge the Item. I did this for testing purposes. I would like to just ignore that target and pull the next one out of the queue.

2

Sounds good!

Instead of using the TrigL and moving to a bogus position use this instruction:

AckItmTgt ItmSrcData{Index}.ItemSource,PickTarget, True;

This will acknowledge the unwanted position. See the manual in Appendix II-14.

3

Will using the AckItmTgt completely discard the unwanted position, or will it put it back into the Queue? I would like the option of picking this target with the next pick, however, this isn’t absolutely necessary.

4

It’s put back to the queue, however you cant reach that position anymore. You can only use this position if you are using the item selection functionality to avoid collisions.

5

Understood. Thanks for the reply.