How can I visualize a routine with parameters in the VC

RobotStudio
1

Good evening everybody,

one of my customer has made some changes in one of my programs. He add some routines with parameters.
The problem is that now, I can’t load these new routines in the VC, and make adjustments of the robtargets.

The routines look like this:

PROC V408_Trunk_85_86_87_88_mod(robtarget p_offset)
CutL\On, Offs(p_offset,0,0,0), vCutFast, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
MoveL Offs(p_offset,17,0,0),vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
MoveL Offs(p_offset,17,-7.5,0),vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
MoveC Offs(p_offset,0,-18.5,0),Offs(p_offset,-17,-7.5,0),vCutMedium,z1,tjet8\WObj:=Wobj_V408_Trunk_R2_T2;
MoveL Offs(p_offset,-17,7.5,0),vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
MoveC Offs(p_offset,0,18.5,0),Offs(p_offset,17,7.5,0),vCutMedium,z1,tjet8\WObj:=Wobj_V408_Trunk_R2_T2;
MoveL Offs(p_offset,17,-3,0),vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
CutL\Off, Offs(p_offset,0,-3,0), vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
!
ENDPROC

I know that it should be possible to create some Action or Move instructions but I tried to, without any success.
I just want to be able to modify the position of the parametered robtarget.

Thanks in advance.

2

Hi,
I assume your problem is that you can’t synchronize the procedure to the RobotStudio station from the VC.
To be able to do that you need to create a “Move Instruction Template” for the routine in “Instruction Template Manager”. But you need to add the tooldata and workobject to the procedure first:

PROC V408_Trunk_85_86_87_88_mod(robtarget p_offset,PERS tooldata tool\PERS wobjdata wobj)
CutL\On, Offs(p_offset,0,0,0), vCutFast, z1, tooldata \WObj:=wobj;
MoveL Offs(p_offset,17,0,0),vCutMedium, z1, tooldata \WObj:=wobj;
MoveL Offs(p_offset,17,-7.5,0),vCutMedium, z1, tooldata \WObj:=wobj;
MoveC Offs(p_offset,0,-18.5,0),Offs(p_offset,-17,-7.5,0),vCutMedium,z1,tooldata \WObj:=wobj;
MoveL Offs(p_offset,-17,7.5,0),vCutMedium, z1, tooldata \WObj:=wobj;
MoveC Offs(p_offset,0,18.5,0),Offs(p_offset,17,7.5,0),vCutMedium,z1,tooldata \WObj:=wobj;
MoveL Offs(p_offset,17,-3,0),vCutMedium, z1, tooldata \WObj:=wobj;
CutL\Off, Offs(p_offset,0,-3,0), vCutMedium, z1, tooldata \WObj:=wobj;
!
ENDPROC