Please help! I am trying to collect joint axis position information for every PaintL or PaintC in my routine, preferrably write to a separate log. Most of the routines are long, proabably have around atleast 100 PaintL instruction. How can I achieve this without affecting cycle time? By the way, the robot tracks wobj on a moving conveyor, if it matters. Thank you in advance!
Xerim, Thank you for your prompt response. Will I be calling this variable at every PaintL or PaintC instruction? If so, will this impact the total cycle time? Or, is there a better way to retrieve the same info. for each of the 100 or so PaintLs? Thanks!
Do you have the multitasking option installed on your system?
In one department, a set of robots do have multitasking but in another I do not.
With Multitasking, you can read the joints in real time by setting up a background task like this:
MODULE MainModule
VAR jointtarget joints;
PROC main()
WHILE 1=1 DO
joints:=CJointT(\TaskRef:=T_ROB1Id);
WaitTime 0.01;
ENDWHILE
ENDPROC
ENDMODULE
Otherwise you will only be able to read the joints at the point CJointT() is declared in your module