Variable num from pose

RAPID Programming
1

Hello!
After Search_1D I have offset values in
LOCAL PERS pose a:=[[x,y,z],[1,0,0,0]];.

LOCAL PERS pose b:=[[x,y,z],[1,0,0,0]];.

How I can extract values X from poses for variables num A, B?
A:=…???
B:=…???

It’s needed for use in command ArcC RelTool(p45,A,0,0),RelTool(p90,B,0,0)…
Or may be I have mistake and you have more simple or more good variant.

2

A:=pose_a.trans.x;
B:=pose_b.trans.x;

3

So, I tried this, but it doesn’t work.

4

It might be because of your declaration. No spaces between declarations naming’s. Controller doesn’t like it.
Also remove the “.” after the declarations.

Should be:
LOCAL PERS pose_a:=[[0,0,0],[1,0,0,0]];
LOCAL PERS pose_b:=[[0,0,0],[1,0,0,0]];

5

Values after Search_1D:
LOCAL PERS pose pePAT_OK_0:=[[-0.128607,-1.93481,-0.960388],[1,0,0,0]];

Declaration p_0_x:
LOCAL VAR num p_0_x:=0;

After Search_1D:
p_0_x:=pePAT_OK_0.trans.x;

ArcLStart RelTool(p0,p_0_x,p_0_y,p_0_z),v200,seam1,weld9\Weave:=weave7,fine,tWeldGunCMT45\WObj:=wobjSTN2;

6

What errors do you get?

7

The value doesn’t change and the trajectory doesn’t change too.

2D3B76F5-9FAF-47BB-8B17-C172781996B2.jpeg
2D3B76F5-9FAF-47BB-8B17-C172781996B2.jpeg2000×1500 816 KB

8

Try to change it to a pers and do it after the search and before the rob movement.

9

The first post has a valid declaration of the pose, it is merely A and B, pose indicates data type. You do not have to break it down to the atomic level with x, y and z to assign the values, see below:
VAR pos myPos:=[0,0,0];
myPos:=A.trans;
MoveL RelTool(myPick,myPos.x,myPos.y,myPos.z), speed, tool, blah, blah;
To use those values in the RelTool, however, you must break it down as seen above.

10

So, I cut declaration part (p_0_x:=pePAT_OK_0.trans.x;) from search_routine and moved it into welding_routine before Arc commands. And now everything worked.
Thank you very much for your help!