Using cPos from motion task in a semistatic task

Robot Controller IRC5
, , ,
1

Hi all,

I’ve been trying to use cPos from a motion task in a semistatic task. Anytime I try it the semistatic task comes up with an argument error for the work object and took data. I am using this to try to measure the distance of weld paths. I am using RW 5.15.

PROC MAIN()

1!!!2 AWLC.

I Seam 45

P_1:=Cpos (\Tool: =tR2_A500_45L|wobj: =wobjR2_0p35_2);

WaitTime 0.5;

P_2:=Pos (\Tool:=tR2_A500_45L \wobj:=wobjR2_0p35_2) ;

W_45:= Distance (P

_1, PL

_2) :

Add W45, L_ W45;

This is just the basic bit of the program to see if it would actually work.

Thanks in advance

2

If you want the tooldata and workobjectdata to be known to another task it must be declared in both (or more, if more tasks) and it must be declared as type PERS.

3

Thank you, got this working now