Write a Robtarget Help !!!

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1

Dim c As New Controller()

Dim motion As MotionSystem = c.MotionSystem

Dim mech As MechanicalUnit = motion.GetActiveMechanicalUnit()

Dim robP As RobTarget

robP = mech.GetPosition(CoordinateSystemType.WorkObject)

Dim rdRobtarget As RapidData = c.Rapid.GetRapidData(“T_ROB1”, “SrvSysInit”, “ptest”)

Dim rtValue As RobTarget = DirectCast(rdRobtarget.Value, RobTarget)

rdRobtarget.WriteItem(robP)

i want to change ptest robtarget position to my current robtarget position but always an error not change my ptest robtarget what is the problem please help

2

Please post the error text.

3

error code is

object reference not set to an instance of an object

See the end of this message for details on invoking
just-in-time (JIT) debugging instead of this dialog box.
************** Exception Text **************
Message: Object reference not set to an instance of an object.
System.NullReferenceException: Object reference not set to an instance of an object.
at ABB.Robotics.Controllers.RapidDomain.UserDefined.FillFromString(String newValue)
←
ABB.Robotics.InternalException at FillFromString in ABB.Robotics.Controllers.RapidDomain.UserDefined
at ABB.Robotics.Dcl.ExceptionHelp.ReThrowException(String objStr, String method, Exception exception, String additionalinfo)
at ABB.Robotics.Dcl.ExceptionHelp.GenerateException(String objStr, String method, Exception exception, String additionalinfo)
at ABB.Robotics.Dcl.ExceptionHelp.GenerateException(Object obj, String method, Exception exception, String additionalinfo)
at ABB.Robotics.Dcl.ExceptionHelp.GenerateException(Object obj, String method, Exception exception)
at ABB.Robotics.Controllers.RapidDomain.RapidData.ReadItem(Int32 index)

4

Are you trying to write to a RobTarget stored in an array? I put you the question because the WriteItem method is used when writing to a specific RobTarget that is stored in an array of RobTargets.

If this is not the case please find below code (C#) that will read the current position of the manipulator and then writes the data to a RobTarget variable.

m_MotionSystem = this.controller.MotionSystem;

m_MechanicalUnit = m_MotionSystem.ActiveMechanicalUnit;

RobTarget CurrPos = new RobTarget();

RobTarget rt = new RobTarget();

RapidData rd = this.controller.Rapid.GetRapidData(“T_ROB1”, “sample”, “pTest”);

CurrPos=m_MechanicalUnit.GetPosition(CoordinateSystemType.WorkObject);

rt=(ABB.Robotics.Controllers.RapidDomain.RobTarget)rd.Value;

rt = CurrPos;

this.m_master = Mastership.Request(this.controller.Rapid);

rd.Value = rt;

this.m_master.Dispose();