Move indipentently one external axis

RAPID Programming
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1

Hello i’ve a robot that has 2 external axis. The problem is the cleaning guys in the night always move “manually” one of the external axis.

Since this robot has more than 1 homeposition i would like to have reset the position of the Axis 7 and 8 wherever the robot is.

For now i wrote this small codes but it works only for the axis 1-6. it give error with 7 and 8.

PROC Init()
joint :=CJointT();
joint.robax.rax_8:=-1.30686;
ENDPROC

Thanks.

2

How do you use those axes? Independent mode, coordinated or a mix of both?

3

Coordinated i think (i’m not sure how can i check it)

4

Look at a jointtarget in Program Data. External axes are NOT declared … rax#

It is more likely the instruction you are looking for is:

joint.extax.eax_a (1st logical external axis - usually) :=3.14159;
joint.extax.eax_b (2nd logical external axis - usually) :=-1.30686;