# ModPos on INOUT robtagets

**URL:** <https://tech-community.robotics.abb.com/t/modpos-on-inout-robtagets/4037>\
**Category:** Robot Controller\
**Created:** [February 7, 2011, 6:02pm UTC](https://tech-community.robotics.abb.com/t/modpos-on-inout-robtagets/4037 "2011-02-07T18:02:24Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Jburgaud](https://avatars.discourse-cdn.com/v4/letter/j/898d66/32.png) [@Jburgaud](https://tech-community.robotics.abb.com/u/Jburgaud)\
**Post date:** [February 7, 2011, 6:02pm UTC](https://tech-community.robotics.abb.com/t/modpos-on-inout-robtagets/4037/1 "2011-02-07T18:02:24Z")

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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…

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<div class="post-metadata">

**Author:** ![Torbjorn](https://avatars.discourse-cdn.com/v4/letter/t/a87d85/32.png) [@Torbjorn](https://tech-community.robotics.abb.com/u/Torbjorn)\
**Post date:** [February 28, 2011, 10:25am UTC](https://tech-community.robotics.abb.com/t/modpos-on-inout-robtagets/4037/2 "2011-02-28T10:25:05Z")

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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.

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**Author:** ![Jburgaud](https://avatars.discourse-cdn.com/v4/letter/j/898d66/32.png) [@Jburgaud](https://tech-community.robotics.abb.com/u/Jburgaud)\
**Post date:** [February 28, 2011, 1:33pm UTC](https://tech-community.robotics.abb.com/t/modpos-on-inout-robtagets/4037/3 "2011-02-28T13:33:19Z")

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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.