array of workobjects

RAPID Programming
1

Hello,
I cannot find any refference in the rapid manual for this so I am trying to find the answer here.

I have multiple workobjects that I would like to store in an array like this:

TASK PERS wobjdata wObj1:=[FALSE,TRUE,“”,[[181.197,632.58,297.741],[0.999992,0.00251573,0.000730156,0.00299524]],[[0,0,0],[1,0,0,0]]];
TASK PERS wobjdata wObj2:=[FALSE,TRUE,“”,[[181.197,632.58,297.741],[0.999992,0.00251573,0.000730156,0.00299524]],[[0,0,0],[1,0,0,0]]];
TASK PERS wobjdata wObj3:=[FALSE,TRUE,“”,[[181.197,632.58,297.741],[0.999992,0.00251573,0.000730156,0.00299524]],[[0,0,0],[1,0,0,0]]];
… and so son

PERS wobjdata arrayofObj{3}:=[wObj1,wObj2,wObj3,…]

I am getting syntax error that says: Expected num but found identifier. I suppose I cannot do it this way. I know I can do it like this with robtargets so I thought that I can do it with work objects but I can’t. Is there any way how to do it?

thanks for the help

2

Array of strings and check out ArgName.

3

Putting identifiers in array is not allowed. You should keep data structure of wobjdata in a array as follows.

TASK PERS wobjdata wobj_array{3}:=[[FALSE,TRUE,“”,[[700,-500,570],[1,0,0,0]],[[0,0,0],[1,0,0,0]]],[FALSE,TRUE,“”,[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]],[FALSE,TRUE,“”,[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]]];

4

Here’s a previous post which might help.

5

I found that post here is how I did it and it’s working.
CONST STRING wobjArray{10}:=[“productA”,“productB”,“productC”…];

VAR wobjdata actualWobjTemp;
PERS wobjdata actualWobj;
…
GetDataVal wobjArray{i},actualWobjTemp;
actualWobj:=actualWobjTemp;

MoveJ p201,v1000,z50,tGripper\WObj:=actualWobj;

Identifiers in array is not allowed but with robtargets it is working

6

It does work, but if you really want to see something that will blow your mind, put robtarget names into a CONST array. Then try to modpos one of the named positions. It won’t work, and won’t tell you why. It is actually a way one could lock down positions that you absolutely don’t want to be modified. You would have to comment out the array, modify positions, and then uncomment the array.