write robtarget

[londoneye]

Hi all

I’m trying to change a position of a robtarget from PC SDK

for starters, I followed some code I found in the forum for writing a robtarget with the values of the current position. It is as follows:

Dim CurrPos As RobTarget
CurrPos = Controller.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.World)
Dim MiRobtarget As New RobTarget
Dim MiRapidData As RapidData = Controller.Rapid.GetRapidData(“T_ROB1”, “modRobotStudio”, “pTest”)

MiRobtarget = DirectCast(MiRapidData.Value, RobTarget)
MiRobtarget = CurrPos

Using master = Mastership.Request(Controller.Rapid)

Try
MiRapidData.Value = MiRobtarget 'Here I get the error
Catch ex As Exception
MessageBox.Show(ex.Message)

Finally

End Try

End Using

When trying to write the rapiddata.value, it gives me an error:
“An argument specified by the client is not valid for this type of operation.”

Could anyone help me? What I’m doing wrong?

thank you

[John_Wiberg]

Hi londoneye,

Your using master looks a bit funny since I see no “as Mastership” in it. But that is not your issue.

Instead if you look in the PC SDK application manual, [Using the PC SDK - Rapid domain - Working with RAPID data] you can see this:

TheRapidData object stores the path to the RAPID data. But this is not enough if you want to access its value (at least not if you want to modify it). To do that you need to create another object, which represents the value of the RAPID data.
In the RapidDomain namespace there are types representing the different RAPID data types. To create the object needed to represent the RAPID data value you use the RapidData property Value and cast it to the corresponding type, for example Num, Boolor Tooldata.

Your MiRapidData is still just a generic cast of rapiddata, which can not really be modified in the way you do. (Two different types).

So you need to set your miRobTarget to your miRapidData and then change the miRobTarget.
But note that this only changes the value in the controller memory, it does not change the text in the progrom module.
Here is a code snippet that I ran in RobotStudio (hence the logger stuff, change it to something that works in the environment you use).

---

ctrl.Logon(UserInfo.DefaultUser)

Logger.AddMessage(

New LogMessage(“log on”))

Using m As Mastership = Mastership.Request(ctrl.Rapid) 'changed as mastership

'directcast the rapid data - should have a detection+try catch if its not there

Dim rd As ABB.Robotics.Controllers.RapidDomain.RapidData = ctrl.Rapid.GetRapidData(“T_ROB1”, “Module1”, “Target_10”)

'declare a variable of the data type

Dim rapidRobTarget As ABB.Robotics.Controllers.RapidDomain.RobTarget

'test that the data type is correct before cast

If TypeOf rd.Value Is ABB.Robotics.Controllers.RapidDomain.RobTarget Then

Try

rapidRobTarget =

DirectCast(rd.Value, ABB.Robotics.Controllers.RapidDomain.RobTarget)

'change stuff

Logger.AddMessage(

New LogMessage("before - " + rapidRobTarget.ToString()))

rapidRobTarget.FillFromString2(ctrl.MotionSystem.ActiveMechanicalUnit.GetPosition(CoordinateSystemType.World).ToString)

Logger.AddMessage(

New LogMessage("after - " + rapidRobTarget.ToString()))

Catch ex As Exception

Logger.AddMessage(

New LogMessage(ex.Message))

End Try

End If

End Using

ctrl.Logoff()