Wrong external axis order

berrie

Hello,<?:namespace prefix = o ns = "urn:schemas-microsoft-com:office:office" />

 

In the moc file is defined that the external axis should have the following order.

 

Exax_a = External Axis GANTRY

Exax_b = (undefined)(reserved for another axis)

Exax_c = External Axis HOIST

Exax_d = External Axis SHIFT

Exax_e = (undefined)

Exax_f = (undefined)

 

These external axis are grouped to one mechanical unit.

 

When I use the "GetPosition" function that can be found in the MechanicalUnit class, I will get the external axis in the wrong order.

GetPosition returns:

 

Exax_a = External Axis GANTRY

Exax_b = External Axis HOIST

Exax_c = External Axis SHIFT

Exax_d = (undefined)

Exax_e = (undefined)

Exax_f = (undefined)

 

But I expected to receive them from the "GetPosition" function as:

 

Exax_a = External Axis GANTRY

Exax_b = (undefined) (reserved for another axis)

Exax_c = External Axis HOIST

Exax_d = External Axis SHIFT

Exax_e = (undefined)

Exax_f = (undefined)

 

I've tested this also with the function CRobT() in  a RAPID program, but then I get the results in the expected order.

 

I want to know how to get the external axis from "GetPosition" in the expected order?

 

I'm using Robot Application Builder 10 and Visual studio 2005.

 

Best Regards

 

Berrie Schluter

Ingela

 This seems to be an error (PC SDK). It has now been reported and will be handled for RAB 5.12, which is the release the dev. team is currently working on.