Passing a mecunit as a parameter to a PROC

RAPID Programming
1

I have a few robots with external servos on the gripper and I want to write a PROC that all the robots can use, so I’m trying to pass a Mecunit as a parameter into a routine. I’m presented with a fault saying that a mecunit is not a value. Is there a clean way of passing a mecunit?

2

How about using a switch, then use function Present?

3

I thought about that but I some robots have one external axis and some have 4 so I want to write a routine that I just feed the parameters and no matter how many axis it will be the same code.

4

The switch is optional, you a.) don’t pass any at all, b.) pass one or more or, c.) use them all if appropriate.

5

IF Present(swMecUnit1) THEN
ActUnit MecUnit1;
Do whatever;
either another IF or ELSEIF
blah blah
ENDIF

6

Is there a way to read which mechanical unit is configured on the robot?

7

Maybe, but I am almost done here for today. I can look tomorrow if you have not found out.

8

I think I got it. I had to put a VAR in front of the data type

PROC EOATServo(var mecunit Servo,robtarget pTarget,num Speed)

9

Yup that’s what it was