Read robtarget from storepath?

RobotStudio
1

Dear Community,

I have an interrupt program with a storepath command. The interrupt program shall modify the target position which is stored by storepath depending on the target values (pose and extax). How can the interrupt program get that knowledge? I can apply restopath, but still I do not know where the robot is going to (the interrupt can be activated at any state of the main program).
I know that Kuka control enables access to target information from an interrupt program. What about ABB?

Thanks for your help

Tobias

2

Hi Tobias

You also need to store the position in the trap routine:

StopMove;
StorePath;
pStopPosition:=CRobT();

When you want to return to the position you do it with:

MoveJ pStopPosition,v200,fine…
RestoPath;
StartMove;

Best regards

Marcel

3

Hello Marcel,

thatA’s not exactly what I need. I want to modify StorePath. I mean apply a mathematical algorithm on the StorePath-robtarget and then restart the robot with RestoPath. But I am afraid that I cannot extract a robtarget-variable from StorePath. ABB did not implement such a possibility.

Regards

Tobias