Array of Rob targets

Developer Tools
1

Traditional Coding inside rapid..
So {} defines an Array for Normal Usage int,Strings… and the suffix instantiates the object variables.
PERS robtarget pApproGoodConv:=[[0,0,0],[0,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
Instead of making a Single element object of type robtarget.
How do i make pLocPoint{25}
Then i can manipulate my array as needed by passing by ref movej pLocPoint[nPallet1] …
Setting up the array is where i seem to be failing in my interpretation of the construct

2

You almost got it already in your question. VAR robtarget pLocPoint{25}; would do it, you don’t have to fill in all the placeholders. But if you really must have them there for whatever reason;

PERS robtarget pLocPoint{2}:=[[[1603.61,188.98,277.66],[0.328996,0.213965,0.916037,-0.082806],[0,0,2,0],[-0.0024727,-139.994,9E+09,9E+09,9E+09,9E+09]],[[1603.61,188.98,277.66],[0.328996,0.213965,0.916037,-0.082806],[0,0,2,0],[-0.0024727,-139.994,9E+09,9E+09,9E+09,9E+09]]];

Each one inside the braces separated by a comma.

3

Thanks i will try this again. Has to be my syntax somewhere

4

So for those Ever looking and need the final Result [Special Help from lemster68], here.
Named Constants to make a clean are Structured approach to point storage…

PROC PlaceConv(num index)
nRetConv:=nNothing;
!Check Safe Zone Clear before proceeding.
!IF Not Clear Wait at the Base Approach Pos until Clear
APPGC;
IF bApproSuccess THEN
pTempPoint:=pApproPoint{nPntGCPlaceWait};
MoveL pTempPoint,v1000,fine,temp_tool;
pTempPoint:=pLocPoint{nPntGCPlaceWait};
MoveL pTempPoint,v1000,fine,temp_tool;
ENDIF
nRetConv:=nSuccess;
RETURN ;
ENDPROC

5

So I suppose you figured out how to modpos those? (Have to go to program data into robtarget array.) And howdy neighbor, Fountain Inn here. :slight_smile:

6

So for those Ever looking and need the final Result [Special Help from lemster68], here.
Named Constants

PROC PlaceConv(num index)
nRetConv:=nNothing;
!Check Safe Zone Clear before proceeding.
!IF Not Clear Wait at the Base Approach Pos until Clear
APPGC;
IF bApproSuccess THEN
pTempPoint:=pApproPoint{nPntGCPlaceWait};
MoveL pTempPoint,v1000,fine,temp_tool;
pTempPoint:=pLocPoint{nPntGCPlaceWait};
MoveL pTempPoint,v1000,fine,temp_tool;
ENDIF
nRetConv:=nSuccess;
RETURN ;
ENDPROC

And to boot Make sure you assign(insinuate) each element in the arrary or your points are gone on power cycle.. Just saying!!

7

Hello,
Never forget to check if positions are changed after to update your array.
So you can teach them:

            pTempAppro:=pApproPoint{nPntGCPlaceWait};
            MoveL pTempAppro,v1000,fine,temp_tool;
            pTempLoc:=pLocPoint{nPntGCPlaceWait};
            MoveL pTempLoc,v1000,fine,temp_tool;
            IF pApproPoint{nPntGCPlaceWait}<>pTempAppro pApproPoint{nPntGCPlaceWait}:=pTempAppro;
            IF pLocPoint{nPntGCPlaceWait}<>pTempLoc pLocPoint{nPntGCPlaceWait}:=pTempLoc;