Is it possible to modify the robtarget.pos.x coordinate of a ROBTARGET variable automatically?

RobotStudio
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1

I am looking to externally modify a graphically programmed position, of the type:

CONST robtarget NamePosision: = [[1598.461056774, -1860.729057189,350.083928981], [0,0.000004108,1,0], [- 1,0, -1,0], [ 9E + 09,9E + 09,9E + 09,9E + 09,9E + 09,9E + 09]];

The values ​​1598, 1860 and 350, are those corresponding to robtarget.pos.x, robtarget.pos.y, and robtarget.pos.z, respectively … Those that I try to modify automatically by means of an arithmetic operation for example, to through RAPID, assigning new variables.

CONST num x: = 1598.461056774;
CONST num y: = -1860.729057189;
CONST num z: = 350.083928981;

VAR robtarget NamePosision: = [[x, y, z], [0,0.000004108,1,0], [- 1,0, -1,0], [9E + 09,9E + 09,9E + 09,9E + 09,9E + 09,9E + 09]];

The CONST variables num x, y, and z, only allow me to assign the data CONSTANT, if I create them of type VAR or PERS for example, it tells me that it must be CONST, but when doing the operation to assign a new value it tells me that it is read only and can not be modified. SIMPLE EXAMPLE: x = x + 1

I hope I have expressed myself correctly. Thank you very much!

2

Change the declaration of the Robtarget from Const to Pers (as well as the num variables).

3

Hi GRAEMEPAULIN, Thanks for answering…

I made the change from CONST to PERS,

PERS num x: = 1598.461056774;
PERS num y: = -1860.729057189;
PERS num z: = 350.083928981;

PERS robtarget NamePosision: = [[x, y, z], [0,0,000004108,1,0], [- 1,0, -1,0], [9E + 09,9E + 09,9E + 09,9E + 09,9E + 09,9E + 09]];

But the error manager tells me that there are syntax problems.

  • IRB_660_250kg_3.15m_3 / RAPID / T_ROB1 / Module1 (17232,42): Syntax error (135): Num. 03/04/2018 21:01:53 General considerations.
  • IRB_660_250kg_3.15m_3 / RAPID / T_ROB1 / Module1 (17232,43): Syntax error (135): Identifier expected. 03/04/2018 21:01:53 General considerations.
  • IRB_660_250kg_3.15m_3 / RAPID / T_ROB1 / Module1 (17232,47): Syntax error (136): ‘]’ was not expected. 03/04/2018 21:01:53 General considerations.

All of them make reference to this excerpt from the robtarget point.
image.jpg
I hope you can help me. Best regards!

4

You need to have numbers in the robtarget

PERS robtarget NamePosision: = [[0,0,0,], [0,0,000004108,1,0], [- 1,0, -1,0], [9E + 09,9E + 09,9E + 09,9E + 09,9E + 09,9E + 09]];

You then update the x, y, or z values in the RAPID, as below:
NamePosision.trans.x:=x;

NamePosision.trans.y:=y;

NamePosision.trans.z:=z;

5

I do what you tell me …

image.jpg
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But I throw the following error … Something I’m doing wrong!

“IRB_660_250kg_3.15m_3 / RAPID / T_ROB1 / Module1 (17227,5): Data declaration error (94): Persistent variable declaration not allowed in the routine. 03/04/2018 22:34:59 General considerations”

6

I made a mistake there … I’m sorry …

7

I already did it correctly and it works perfectly … Thank you very much for your answers and your time! :slight_smile:

8

im doing something similar except my robot is on a track so I have mine looking like this:

PERS robtarget pBackSet:=[[6652.,-1606.93,856.53],[0.488507,0.509356,0.507896,-0.493922],[0,0,-1,1],[6640.,9E+09,9E+09,9E+09,9E+09,9E+09]];

What do I use for the track instead of “trans.x”

9

pBackSet.eax.a could be underscore _a

10

will try thank you

11

So the code I have now is:

PERS robtarget pRightEnd:=[[0,13.06,-8.79],[0.486852,-0.512594,0.514645,0.485143],[-1,-1,0,1],[0,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget pColumnCTR:=[[0,-1606.93,856.53],[0.488507,0.509356,0.507896,-0.493922],[0,0,-1,1],[0,9E+09,9E+09,9E+09,9E+09,9E+09]];
nPartLenMM:=ColumnLen*25.4;
nPartLenMMH:=nPartLenMM/2.;
nXPOS:=nPartLenMMH;
pRightEnd.trans.x:=nXPos+3.225-12.7;
pRightEnd.eax_a:=6640.35-nXPos+600.;
pColumnCTR.trans.x:=nXPos+6662.42-12.7;
pColumnCTR.eax_a:=nXPos+6640.35-822.05;

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The eax_a is for the numbers bold? Is there a different variable for the Track, pictured below:

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image.jpg2000×1500 696 KB

12

Ok I left one thing out. It has been a while. Use syntax .extax.eax_a:=what_number_you_need_here;

13

should there be a space behind the syntax?

14

Syntax refers to the required way you have to write the code, it is not part of the code. pMyRobtarget.extax.eax_a:=100; for example.

15

Thank you Lee!!! WooHoo it works…

16

You are welcome. :slight_smile: