Recording joint information

undercover

Please help! I am trying to collect joint axis position information for every PaintL or PaintC in my routine, preferrably write to a separate log. Most of the routines are long, proabably have around atleast 100 PaintL instruction. How can I achieve this without affecting cycle time? By the way, the robot tracks wobj on a moving conveyor, if it matters. Thank you in advance!

xerim

undercover

Xerim, Thank you for your prompt response. Will I be calling this variable at every PaintL or PaintC instruction? If so, will this impact the total cycle time? Or, is there a better way to retrieve the same info. for each of the 100 or so PaintLs? Thanks!

xerim

Do you have the multitasking option installed on your system? 

undercover

In one department, a set of robots do have multitasking but in another I do not.

xerim

With Multitasking, you can read the joints in real time by setting up a background task like this:

MODULE MainModule
    VAR jointtarget joints;
    PROC main()
    WHILE 1=1 DO
        joints:=CJointT(\TaskRef:=T_ROB1Id);
        WaitTime 0.01;
    ENDWHILE
    ENDPROC
ENDMODULE

Otherwise you will only be able to read the joints at the point CJointT() is declared in your module