How to make a robtarget position dependent from a variable

RAPID Programming
1

I have about 10 robtarget positions whose x and y coordinates are all dependent from a which is an input variable so it cannot be constant. My robtarget positions look something like this:

VAR robtarget Target_10:=[[(10a), (8a), 0],…];
VAR robtarget Target_20:=[[(18a), (10a), 0],…];

But the problem is that the values in robtarget positions have to be constant.
So is it somehow possible to make my positions dependent from a?

2

You can do the following after the variable declarations:

Target_10.trans := [10*a, 8*a, 0];
3

You can also use functions if you don’t want the robtarget to be changed by operators.

    CONST robtarget a:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    FUNC robtarget Target_10()
        VAR robtarget ret;
        ret := a;
        ret.trans:= [10*a.trans.x, 8*a.trans.y, 0];
        RETURN ret;
    ENDFUNC
    
    PROC main()
        MoveL a,v1000,z50,tool0\WObj:=wobj0;
        MoveL Target_10(),v1000,z50,tool0\WObj:=wobj0;
    ENDPROC
4

Thanks, that’s really helpful! I’m gonna try it out later

5

@Tompanhuhu If you don’t want a position to be modified by anyone at all, do this:

         CONST robtarget myRobtarget:=[[471.96,165.24,337.40],[0.147458,0.375124,0.905628,0.131821],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget myRobtarget10:=[[360.69,346.35,337.40],[0.116071,0.174066,0.964666,0.16015],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget myRobtarget20:=[[328.12,315.08,266.77],[0.0483949,0.176969,0.980755,0.0667735],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget pLockDown{3}:=[myRobtarget,myRobtarget10,myRobtarget20];

The controller will report a position modify error, without a clue as to why.