ModPos on INOUT robtagets

Robot Controller
1

Hi,

I am having problems using robtargets as INOUT parameters.

It seems as if the “Modpos” action is ineffective on such robtargets. Has anyone already tried to do this?

PERS robtarget pJ92W67PT_priSTD:=[[231.47,32.66,-47.06],[0.03091,-0.691511,-0.721473,-0.018271],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC C_PRISE_D()
T_pri_ST_D pJ92W67PT_priSTD;
ENDPROC

PROC T_pri_ST_D(
INOUT robtarget p_pri_ST_D)

! trajectoire pt avant_prise jusqu’au pt prise DROIT STOCKEUR
MoveL Offs(p_pri_ST_D,0,0,50),v7000,z10,pinceWObj:=wo_stockeur;
MoveL p_pri_ST_D,v500,fine,pinceWObj:=wo_stockeur;
ENDPROC

When I press Modpos on “p_pri_ST_D”, it is completely ineffective…

2

Modpos on parameters as you have done is not supported.
You can modify the position on the calling row: “T_pri_ST_D pJ92W67PT_priSTD;”.
This is possible from the program editor window even though the program pointer is within the “T_pri_ST_D” procedure.

3

Thanks,

Since it is not very handy to modpos on T_pri_ST_D pJ92W67PT_priSTD;"
I have put the parameter in a pers data at the beginning of the routine and update the value of the INOUT parameter at the end of the routine in case of a modpos.