Array using robtarget

jakobfranzzon

Hello! Been stuck with doing an array with 6 different robtargets. It is possible to do it this way:

    PERS num nPartCount := 0;

    PERS robtarget LeavePos{6} := 

        [[[620,1200,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],

        [[220,1200,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],

        [[-220,1200,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],

        [[620,875,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],

        [[220,875,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],

        [[-220,875,-86.402252976],[0.001544941,-0.70381839,-0.710369702,-0.003489157],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]];

And in my main I would write something like this:

nPartCount := nPartcount+1;
LeavePos{nPartCount};

The last line is where I get the error message. I think it's an easy fix but I can't figure it out. Thanks in advance!

EricH

Sure, this works. Last line just needs a movement order.

  MoveJ LeavePos{nPartCount},v100,z200,tool0;

jakobfranzzon

Thanks! Didn't think about that at all. Very helpful!

lemster68

Please do not do this: nPartCount := nPartcount+1;.  Simply written is expressed:  Incr nPartCount;

jakobfranzzon

Didn't know you could do that, thanks. Will change it right away.

lemster68

Just a pet peeve of mine, Incr and Decr are mathematical instructions.     It will help make your code look smarter.