String to number conversion and checking the reachability in RAPID

RobotStudio
1

Hello,

I need some help with the following problems:

  1. Is it possible to somehow convert a string (in my case received through a socket) to the equivalent data but in a number type in RAPID? I have tried with StrToByte but the problem is that I’m significantly limited by the range of the byte type (0 - 255 without negative values). What I need is to send by the socket the position of the robotic arm and, as you know, the position of the effector can quite a bit exceed the limit (255). I thought about multiplying the values but in this case I would lose a possibility of reaching intermediate points. And still, what about negative values?

  2. How can I check a reachability of a specified point by a RAPID code? Generally, my program crashes now when the coordinates of the demanded point are exceeding the robot’s workspace limit.

2

hello,

  1. you can use strtoval for converting string to numbers

  2. you can use CalcJointT for checking reach, if it gives an error ERR_ROBLIMIT then you know the robot cannot reach the position

BR

Peter

3

Hello,
i have the same problem , i have this variable
VAR string Fx_S1:=0.784184821186377;
i have imported from C# addin , and when i use the command
VAR strtoval Fx_S1;
it gives me the following error :
IRB4400_60kg_1.96m_245/RAPID/T_ROB1/MainModule(3,2): Name error(49): Variable name x_S1 ambiguous. 10/14/2013 8:40:28 PM General
Checked: IRB4400_60kg_1.96m_245/RAPID/T_ROB1: 1 semantic errors. 10/14/2013 8:40:28 PM RAPID
any help is really appreciated

4

i have found the error it was in the format of using StrToVal