Reading a robot pick coordinates from the PLC
I would like to update a robot pick position of the square/rectangular parts on the basis of the position and orientation from the PLC. The parts are placed randomly on a conveyor and go through a measuring machine, where dimensions of the parts are measured. The parts stop at a predefined point on the other end of a conveyor, with all three pick coordinates + orientation angle known. The PLC will send these coordinates and rotation of the pick point to the robot controller.
I thought to use the RelTool for this task, where a zero point would be on the conveyor and according to the coordinates, an offset point would be generated. What I don't know is how to "read" these numeric values, when the PLC sends them to the robot controller. Is there any instruction for this? I have read on the forum something with the group inputs but I don't quite get that.
Thank you in advance.