Use Iterated User Data Types

Robot Controller
1

Hi.

Need to use numbers in variable names and use them (numbers) in loops. To iterate them.
I have a data type with 10 elements of two-dimensional arrays.
I want to use them to store data from SICK IVC-2D camera - read/write product’s positions.

I decrease no. of elements to 3 to simplify case:

RECORD poseCol
pose p0, pose p1, pose p2
ENDRECORD

VAR poseCol poseCollection_0;
VAR poseCol poseCollection_1;
VAR poseCol poseCollection_2;

I cannot use array in RECORD statement - so I have to use such a structure.

I need to read/write all elements from all poseCol variables.

I tried to use ‘%’ but I think it works only for PROC:

FOR i FROM 0 TO 2 DO
%“poseCollection_0.p”+NumToStr(i,0)% := …;
ENDFOR

Does anybody know solution for such a task?

Furthermore because I cannot use arrays in RECORD statement I cannot use DIM function to make my code more flexible.

2

Have you tried the SetDataVal command, i have used this for a similar situation before. It allows you to build a string and use that to specify the variable name.

3

No, I have not… and I think I should :wink:

GetDataVal and SetDataVal should solve most of the problems.

Thanks!
BR