RAPID: Modify variable in an array from FlexPendant

Robot Controller
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1

I have a single robtarget (called A) and an array of robtargets (called B). I would like to put A into B → this works nicely, until I would like to modify A via FlexPendant: I get the “Unable to modify position” error message. The ways I tried:

(1) Result: Error message while modifying via FlexPendant (“Unable to modify”)
CONST robtarget A:=[…];

CONST robtarget B{1}:=[A];

(2) Result: Error in rapid code (B cannot be declared as PERS)
CONST robtarget A:=[…];

PERS robtarget B{1}:=[A];

(3) Result: Error in rapid code (A should be CONST if we want to put it into an array)

PERS robtarget A:=[…];

CONST robtarget B{1}:=[A];

I have to put robtargets into an array, but I would like to provide the “Modify position via FlexPendant” feature to the operators. Is this possible some way?

Thank you for any help.

2

you can but they ALL need to be PERS, I don’t think rapid let you modify CONST unless in manual. Try this:

VAR robtarget pTemp := [whatever, just make sure the position is clear]

GetDataVal “pRobTargetB”, pTemp;

MoveL pTemp…

After the changes have been made and saved run this

SetDataVal “pRobTargetA”, pTemp;

pRobTargetB := pTemp;

I hope this help! Now this is set up without the array, so you may need to run a for loop to pull the robtarget out of the array before making pRobTargetB := pTemp