var robtarget

Drake

I'm doing:

var robtarget aux;

aux := position that with a constant robtarget the robot acepts
MoveL aux1,vmax,fine,tool0WObj:=wobj0;

and it gives the erro:

Event 40714

This is probabily an off-line generate dummy position (undefined orientation).

The robtarge aux is exactly the same that a constant robtargets that doesn't produced any error. thanks

mattdavis

check that you have defined the variable either in the same routine that is using it, or in a routine that calls the routine using it (or globally). If you exit the routine that defines it i believe it will be initiated to zero.

simple alternative is to use a persistant type instead of var, but then be careful that you do not expect it to be zero when you start your routine.

Henrik Berlin

I just ran the following module without problems. My suggestion is to use the RAPID Watch window to check the actual value of your robtarget. Set a breakpoint and add the variable to the RAPID Watch window. Then you can check the value.

 

MODULE Module1

 

CONST robtarget Target_10:=[[2395,-1.63424829224822E-12,2055],[1,0,7.21644966006352E-16,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

VAR robtarget pTmp;

 

PROC Path_10()

MoveJ Target_10,v1000,z100,GWT_S1WObj:=wobj0;

pTmp:=Target_10;

MoveJ pTmp,v1000,z100,GWT_S1WObj:=wobj0;

ENDPROC

 

PROC main()

Path_10;

ENDPROC

 

ENDMODULE