MoveL instruction

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1

Hi,
I have a strange problem.I am working with a Flex Picker IRB 360.
I have a program in C# sends the data to Robot Contorller through TCP/IP communication.The received data is used to move the robot to target points.Instead of the Robot moving to Target positions it always move to X=0 and Y=0 position.
below is the code

MODULE TCPIP
< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 11”>< name=“Originator” =“Microsoft Word 11”>

VAR SocketDev Socket_Server;

VAR SocketDev Socket_Client;

VAR string ReceiveMessage;

VAR string ControllerIP;

VAR num ReceivedOption;

VAR bool Dummy;

VAR robtarget r1;

< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 11”>< name=“Originator” =“Microsoft Word 11”>

VAR String sP1x;

VAR string sP1y;

VAR num pr1x;

VAR num pr1y;

VAR num r1x;

VAR num r1y;

PROC MAIN()

< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 11”>< name=“Originator” =“Microsoft Word 11”>

SocketCreate Socket_Server;

SocketBind Socket_Server,“172.29.74.1”,1025;

SocketListen Socket_Server;

SocketAccept Socket_Server,Socket_Client;

SocketReceive Socket_Client Str:=ReceiveMessage****Time:=WAIT_MAX ;

TPWrite "Message received "**+**ReceiveMessage;

Dummy:=StrToVal(ReceiveMessage,ReceivedOption);

< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 11”>< name=“Originator” =“Microsoft Word 11”>

SocketSend Socket_Client Str:=“Message received”;

< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 11”>< name=“Originator” =“Microsoft Word 11”>

sP1x:=“P1x”;

pr1x:=ReceiveSend(sp1x);

r1x:=pr1x;

sP1y:=“P1y”;

pr1y:=ReceiveSend(sp1y);

r1y:=pr1y;

r1:=[[r1x,r1y,Pz],[0,1,0,0],[0,1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

MoveJ r1,V500,fine,tool2;

< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 11”>< name=“Originator” =“Microsoft Word 11”>

SocketClose Socket_Server;

stop;

ENDPROC

< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 11”>< name=“Originator” =“Microsoft Word 11”>

FUNC num ReceiveSend(var string Point )

VAR string Receive;

VAR num Position;

SocketReceive socket_Client Str:=Receive;

TPWrite""**+**Receive;

SocketSend socket_Client Str:=Point;

Dummy:=StrToVal(Receive,Position);

Return Position;

ENDFUNC

ENDMODULE

Incase of further calirifications please let me know.

Cheers
Ravi

2

Try to change the vars to persistence insted var

/Jorge

3

robtargets are normally defined with the type ‘Constant’

leaving them as Var will set them to zero when program pointer is reset