Array using robtarget

RAPID Programming
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1

Hello! Been stuck with doing an array with 6 different robtargets. It is possible to do it this way:

PERS num nPartCount := 0;

PERS robtarget LeavePos{6} :=
[[[620,1200,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[220,1200,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-220,1200,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[620,875,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[220,875,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
[[-220,875,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]];

And in my main I would write something like this:

nPartCount := nPartcount+1;
LeavePos{nPartCount};

The last line is where I get the error message. I think it’s an easy fix but I can’t figure it out. Thanks in advance!

2

Sure, this works. Last line just needs a movement order.

  MoveJ LeavePos{nPartCount},v100,z200,tool0;
3

Thanks! Didn’t think about that at all. Very helpful!

4

Please do not do this: nPartCount := nPartcount+1;. Simply written is expressed: Incr nPartCount;

5

Didn’t know you could do that, thanks. Will change it right away.

6

Just a pet peeve of mine, Incr and Decr are mathematical instructions. :# It will help make your code look smarter.

7

Hello,

In a similar way, I am using a dynamic assigment to the robot targets in a loop like herebelow:

FOR i FROM 1 to n
MoveJ LeavePos{i}, v100, z200, tool0;
ENDFOR

And I am wondering if the execution of this code will result in the same trajectory as:

MoveJ LeavePos{1}, v100, z200, tool0
MoveJ LeavePos{2}, v100, z200, tool0
MoveJ LeavePos{3}, v100, z200, tool0
MoveJ LeavePos{4}, v100, z200, tool0
…
MoveJ LeavePo{n}, v100, z200, tool0

in terms of controller internal path planning. Will it ?

As far as I understood, the robot reads one line of movement ahead to generate a smooth trajectory (depending on the zone size) but in the case of the loop, it kind of can’t read in advance, can it ?

Will the resulting trajectory be less smooth in comparison to the MoveJ sequence ?
Or is there absolutely no difference, and the robot directly interpretates the next freshly built moveJ ? @lemster68

Thank you very much in advance

8

It will work just fine. As a matter of fact, some of our programs do pretty much the same thing as in your FOR loop.

9

Thank you for your quick reply !

Good to know that ABB does kind of the same thing.

And also, what if another instruction is added within the FOR loop like:

FOR i FROM 1 to n
One motionless instruction;
MoveJ LeavePos{i}, v100, z200, tool0;
ENDFOR

Will the trajectory planner still remain unaffected either if the instruction is a priori not computationnaly intense ?

10

It will not be a problem. By the way, the motion planner reads ahead more than one move instruction.

11

Thank you for the reactive support. Really appreciate

12

Be advised that ANY non-motion instruction that causes a wait will break up the fluidity.

13

Hi,

I would like to use a pretty large array of robtargets thereof values are written by a C# program thanks to REST API commands.

I initialized my array as: PERS robtagret TgtArray{200};

But I didn’t work. I reduced the array size down to 31 and it worked. (32 and more didn’t).
Is RAPID expert aware of such a limit? Is there a maximal amount specified somewhere ?

When I look into the virtual flexpendant system info → software resources → RAPID → RAPID memory, I can see that the current free RAPID Memory = 31.78 MB and Total RAPID memory 39.02 MB.

Even with 200 robtargets, I feel like I am far below 31.78 MB of data…

14

I made one with 200 in RS and it had no errors

15

Ok thanks good to know… I assume it was with IRC5, was it ?

16

Yes, IRC5.

17

Hi…
See if this helps…

https://forums.robotstudio.com/discussion/13805/using-arrays-and-for-loops#latest

Good work.