Path Offset (612-1) problem

Robot Controller
1

Hi!I am using student version of RobotStudio 5.13 .
I’ve got a problem with implementing the Path Offset from the instruction 3HAC 18152-1 Revision: E example.
I’ve written it like this:

And a error appears:

I would also like to ask, if it is possible to use this function with Path Recovery and Independent Axes on one positioner.
I will appreciate your help.

2

Moved to RobotWare

3

Hi,
you have to do the declaration in the right way like below.

Module xyz

VAR intnum int_no1;
VAR corrdescr id;
VAR pos sens_val;

PROC main()
start_pos;
sciezka_klej;
ENDPROC

PROC start_pos()
ActUnit STN1;
MoveJ Target_1,v1000,z5,GlueGunWObj:=zbiornik_up;
ENDPROC

PROC sciezka_klej()

ConfL OFF;

CorrCon id;
CONNECT int_no1 WITH UpdateCorr;
ITimerSingle, 0.2, int_no1;

MoveL Target_11,v100,z10,GlueGunWObj:=zbiornik_upCorr;

CorrDiscon id;
IDelete int_no1;

MoveC Target_21,Target_31,v1000,z0,GlueGunWObj:=zbiornik_up;
MoveL Target_41,v100,z100,GlueGunWObj:=zbiornik_up;
MoveC Target_51,Target_61,v1000,z0,GlueGunWObj:=zbiornik_up;
MoveL Target_71,v100,z100,GlueGunWObj:=zbiornik_up;
MoveC Target_81,Target_91,v1000,z0,GlueGunWObj:=zbiornik_up;
MoveL Target_101,v100,z100,GlueGunWObj:=zbiornik_up;
MoveC Target_111,Target_121,v1000,z0,GlueGunWObj:=zbiornik_up;
MoveL Target_131,v100,z100,GlueGunWObj:=zbiornik_up;

ENDPROC

TRAP UpdateCorr
ReadSensor sens_val.x, sens_val.y, sens_val.z;
CorrWrite id, sens_val;
IDelete int_no1;
CONNECT int_no1 WITH UpdateCorr;
ITimerSingle, 0.2, int_no1;
ENDTRAP
ENDMODUL

4

Thanks, it helped with mentioned error, but now it’s something about the ReadSensor procedure.

[Quote]/klejenie/RAPID/T_ROB1/modul_klej(79,2): Error 130 : Reference error : Reference to unknown procedure ReadSensor
[/quote]