trigger num/dnum

lukasz_954

Hi,
Is it possibile to set a num variable at the middle of the corner path?
With TriggJ/MoveJGo instructions I can only set DO/GO.

Other idea is to use MoveLSync but I can't use procedure with argument

Thanks

xerim

Maybe I am misunderstanding, but why can't you use MoveLSync? It allows you to trigger a procedure, just like this:

MoveLSync p2, v1000, z30, tool2, "my_proc;"

The proc could be as simple as setting your num/dnum to your desired value. 

lukasz_954

I would like to give some positions a number with is triggered in the point (without stopping robot)

If I use:
MoveLSync p2, v1000, z30, tool2, "my_proc;"
I need to create as much procedures as points.
The solution could be to call procedure with argument:
MoveLSync p2, v1000, z30, tool2, "my_proc(55) ;"

Proc my_proc(num number)
  PosNumber:=number;
EndProc

But this doesn't work.

xerim

Check out triggiosdnum in the Technical Reference Manual  page 1711

lukasz_954

It wouldn't work. 
According to the manual:
triggiosdnum is used to define conditions and actions for setting a digital output signal, a group of digital output signals or an analog output signal at a fixed position along the robot’s movement path.

The only solution what I see is to create Virtual GO and use MoveJGO 

xerim

I think you can convert analog output signals to a number.

VAR num my_num;

my_num:=AOutput(AO_signal);