Index through robtargets

RAPID Programming
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1

is it possible to index through robtagets in a FOR statement? See example below, the argument Pick+i should reference the robtarget Pick1, Pick2 etc…

CONST robtarget Pick1;
CONST robtarget Pick2;
CONST robtarget Pick3;
CONST robtarget Pick4;

FOR i FROM 1 TO 4 DO
!
Pick i, Pick+i;
!
Drop;
!
ENDFOR

PROC Pick(num PickNum,robtarget pickLoc)
!
MoveJ RelTool(pickLoc,0,0,200),vmax,z10,t_Gripper_16;
!
MoveL pickLoc,vmax,fine,t_Gripper_16\WObj:=wobj0;
!
ENDPROC

2

Put your robtargets into an array. Make a separate routine so you can make touchups or you have to view in the data to modpos them.

3

Hello,
you could use the instruction GetDataVal to retrieve the required robtarget.

Proc Pick(string Name, num Index)
  var robtarget pTemp;
  var string stName;
  stName:=Name+Valtostr(Index);
  GetDatval stname, pTemp;

  MoveL pTemp,...;
endproc

/BR
Micky

4

Perfect!