RAPID Syntax Error

RAPID Programming
1

Hello,
I’d like to use a FOR loop to reduce the number of instructions. However, a syntax error occurs when I coded a routine as below. Can anyone help implement it?
THX.

PERS jointtarget jpos0:=[[8.64979E-6,2.03798E-6,-6.139E-6,2.2349E-5,20,-2.23871E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PERS jointtarget jpos1:=[[8.64979E-6,9.76204E-6,-2.88898E-7,-180,-20,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PERS jointtarget jpos2:=[[8.64979E-6,93.0963,-180,7.98897E-6,106.904,9.36989E-7],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

PERS jointtarget jpos3:=[[8.64677E-6,93.0963,-180,-180,-106.904,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PERS jointtarget jpos4:=[[-180,-87.5354,-27.4211,-180,85.0435,-1.1935E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PERS jointtarget jpos5:=[[-180,-87.5354,-27.4211,8.57699E-6,-85.0435,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PERS jointtarget jpos6:=[[-180,-23.0743,-152.579,-180,24.3467,-2.69069E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PERS jointtarget jpos7:=[[-180,-23.0743,-152.579,2.2267E-5,-24.3467,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

PROC rTruncate()
FOR i FROM 0 TO 7 DO
jpos{i}.robax.rax_1:=Trunc(jpos{i}.robax.rax_1\dec:=2);
jpos{i}.robax.rax_2:=Trunc(jpos{i}.robax.rax_2\dec:=2);
jpos{i}.robax.rax_3:=Trunc(jpos{i}.robax.rax_3\dec:=2);
jpos{i}.robax.rax_4:=Trunc(jpos{i}.robax.rax_4\dec:=2);
jpos{i}.robax.rax_5:=Trunc(jpos{i}.robax.rax_5\dec:=2);
jpos{i}.robax.rax_6:=Trunc(jpos{i}.robax.rax_6\dec:=2);
!..
ENDFOR
ENDPROC

2

Try this.

    PERS jointtarget jpos{8}:=[[[0,2.03798E-6,-6.139E-6,2.2349E-5,20,-2.23871E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],[[8.64979E-6,93.09,-2.88898E-7,-180,-20,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
                               [[8.64979E-6,93.0963,-180,7.98897E-6,106.904,9.36989E-7],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],[[8.64677E-6,93.0963,-180,-180,-106.904,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
                               [[-180,-87.5354,-27.4211,-180,-85.04,-1.1935E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],[[-180,-87.5354,-27.4211,8.57699E-6,-85.0435,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
                               [[-180,-23.0743,-152.579,-180,24.3467,-2.69069E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],[[-180,-23.0743,-152.579,2.2267E-5,-24.3467,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]];
    PERS jointtarget jpos0:=[[8.64979E-6,2.03798E-6,-6.139E-6,2.2349E-5,20,-2.23871E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos1:=[[8.64979E-6,9.76204E-6,-2.88898E-7,-180,-20,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos2:=[[8.64979E-6,93.0963,-180,7.98897E-6,106.904,9.36989E-7],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos3:=[[8.64677E-6,93.0963,-180,-180,-106.904,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos4:=[[-180,-87.5354,-27.4211,-180,85.0435,-1.1935E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos5:=[[-180,-87.5354,-27.4211,8.57699E-6,-85.0435,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos6:=[[-180,-23.0743,-152.579,-180,24.3467,-2.69069E-5],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    PERS jointtarget jpos7:=[[-180,-23.0743,-152.579,2.2267E-5,-24.3467,180],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

    PROC rTruncate()
        FOR i FROM 0 TO 7 DO
            jpos{1}.robax.rax_1:=Trunc(jpos1.robax.rax_1\dec:=2);
            jpos{2}.robax.rax_2:=Trunc(jpos2.robax.rax_2\dec:=2);
            jpos{3}.robax.rax_3:=Trunc(jpos3.robax.rax_3\dec:=2);
            jpos{4}.robax.rax_4:=Trunc(jpos4.robax.rax_4\dec:=2);
            jpos{5}.robax.rax_5:=Trunc(jpos5.robax.rax_5\dec:=2);
            jpos{6}.robax.rax_6:=Trunc(jpos6.robax.rax_6\dec:=2);
            !... 
        ENDFOR
    ENDPROC
3

I tried a similar method as you, but failed. I Probably missed something.
Thanks a lot.

4

Pleasure.

5

Hello,

Arrays in RAPID start with index 1 and not with index 0.

But since you don’t use an array you have to use the instructions “GetDataVal” and “SetDataVal” to access the content of variables by name.

Here is an example:

PROC Example()

FOR i FROM 0 TO 7 DO
TruncJointTarget “jpos”+Valtostr(i);
ENDFOR

endproc

PROC TruncJointTarget(string JointName)
VAR jointtarget jtTemp;

GetDataVal JointName,jtTemp;
jtTemp.robax.rax_1:=Trunc(jtTemp.robax.rax_1\dec:=2);
jtTemp.robax.rax_2:=Trunc(jtTemp.robax.rax_2\dec:=2);
jtTemp.robax.rax_3:=Trunc(jtTemp.robax.rax_3\dec:=2);
jtTemp.robax.rax_4:=Trunc(jtTemp.robax.rax_4\dec:=2);
jtTemp.robax.rax_5:=Trunc(jtTemp.robax.rax_5\dec:=2);
jtTemp.robax.rax_6:=Trunc(jtTemp.robax.rax_6\dec:=2);
SetDataVal JointName,jtTemp;

ENDPROC

6

Hello Micky,
I fixed the problem using an array and your idea is also a good alternative. Thanks.