Distance measurement and extracting data

nihm20

Hi, I'm new to programming in rapid. I have a question about distance measurement. 

I have created targets for my robot, and then I want to record the position of the TCP after it has moved to each target. Here is a snippet of my code:

        MoveL Target_200,v1000,fine,EndEffector3\WObj:=Workobject_1;

        TCPPos1 := CPos(\Tool := EndEffector3 \WObj := Workobject_1);

        dist2 := Distance(TCPPos1, measurementPoint);        

        MoveL Target_210,v1000,fine,EndEffector3\WObj:=Workobject_1;

        TCPPos2 := CPos(\Tool := EndEffector3 \WObj := Workobject_1);

        dist3 := Distance(TCPPos2, measurementPoint);        

        MoveL Target_220,v1000,fine,EndEffector3\WObj:=Workobject_1;

        TCPPos3 := CPos(\Tool := EndEffector3 \WObj := Workobject_1);

        dist3 := Distance(TCPPos2, measurementPoint);        

        MoveL Target_230,v1000,fine,EndEffector3\WObj:=Workobject_1;

        TCPPos4 := CPos(\Tool := EndEffector3 \WObj := Workobject_1);

        dist4 := Distance(TCPPos2, measurementPoint);  

for dist1,..,4 I get the same distance as in the first one, even though I can see in the flexpendant that TCPPos1,...,4 are different, so it should be different distances as well. 

Thas is my first concern. My second concern is if there is a way to extract the data TCPPo1,...,4 in any way from RobotStudio for analysing the data? 

mandolas

nihm20 said:

Hi, I'm new to programming in rapid. I have a question about distance measurement. 

I have created targets for my robot, and then I want to record the position of the TCP after it has moved to each target. Here is a snippet of my code:

        MoveL Target_200,v1000,fine,EndEffector3\WObj:=Workobject_1;

        TCPPos1 := CPos(\Tool := EndEffector3 \WObj := Workobject_1);

        dist2 := Distance(TCPPos1, measurementPoint);        

        MoveL Target_210,v1000,fine,EndEffector3\WObj:=Workobject_1;

        TCPPos2 := CPos(\Tool := EndEffector3 \WObj := Workobject_1);

        dist3 := Distance(TCPPos2, measurementPoint);        

        MoveL Target_220,v1000,fine,EndEffector3\WObj:=Workobject_1;

        TCPPos3 := CPos(\Tool := EndEffector3 \WObj := Workobject_1);

        dist3 := Distance(TCPPos2, measurementPoint);        

        MoveL Target_230,v1000,fine,EndEffector3\WObj:=Workobject_1;

        TCPPos4 := CPos(\Tool := EndEffector3 \WObj := Workobject_1);

        dist4 := Distance(TCPPos2, measurementPoint);  

for dist1,..,4 I get the same distance as in the first one, even though I can see in the flexpendant that TCPPos1,...,4 are different, so it should be different distances as well. 

Thas is my first concern. My second concern is if there is a way to extract the data TCPPo1,...,4 in any way from RobotStudio for analysing the data? 

Hi...

There are some inconsistencies in your code...

Having a look, that might be the problem.

??? dist3 := Distance(TCPPos2, measurementPoint) === dist4 := Distance(TCPPos2, measurementPoint);

Good Work.

nihm20

I realised this when working with the program, I think the syncronization messed up my code. Thank you for your answer.