Home Position

Fabman

Hello,

 

This is the first time using RAPID and I am missing something. I want to define a home position and set an output when I am in that position and the output should turn off when I am not in that position. I copied the example out of the help and modified it slightly. Here is my code.

 

MODULE user (SYSMODULE) ! Predefined user data !********************* ! Declaration of numeric registers reg1...reg5

VAR num reg1 := 0;

VAR num reg2 := 0;

VAR num reg3 := 0;

VAR num reg4 := 0;

VAR num reg5 := 0;

 

! Declaration of stopwatch clock1 VAR clock clock1;

! Template for declaration of workobject wobj1

!TASK PERS wobjdata wobj1 := [FALSE, TRUE, "", [[0, 0, 0],[1, 0, 0, 0]],[[0, 0, 0],[1, 0, 0, 0]]];

 

VAR wzstationary home;

PROC Home_Output()

 

VAR shapedata joint_space;

CONST jointtarget home_pos := [ [ 0, 0, 0, 0, 0, -45], [ 0, 9E9, 9E9, 9E9, 9E9, 9E9] ]; CONST jointtarget delta_pos := [ [ 2, 2, 2, 2, 2, 2], [ 5, 9E9, 9E9, 9E9, 9E9, 9E9] ]; WZHomeJointDef Inside, joint_space, home_pos, delta_pos;

WZDOSetStat, homeInside, joint_space, At_Home, 1;

ENDPROC

ENDMODULE

 

Is "CONST jointtarget home _pos"  my position that will turn on the output? What is the second set of coordinates?

 

Can this be a "P"?

 

"CONST jointtarget delta_pos" is the position tolerance?

 

I always want this to be active and to initalize on power up.

 

I found another thread that related to this but I need a couple pieces of information to put it all together.

 

Thanks.

 

 

 

Fabman

I have figured out most of what I needed. With the exception of this.

 

 

CONST jointtarget home_pos := [ [ 0, 0, 0, 0, 0, -45], [ 0, 9E9, 9E9, 9E9, 9E9, 9E9] ];

 

I would like to replace [ 0, 0, 0, 0, 0, -45] with a position variable such as "Home1". I have tried a couple of different ways but no luck. Anybody know how this is done.

 

Thanks

 

 

 

Henrik Berlin

I did it like this:

[CODE]
MODULE Module1
    VAR robjoint Home1Rob:=[0,0,0,0,0,-45];
    VAR extjoint Home1Ext:=[0,9E9,9E9,9E9,9E9,9E9];
    VAR jointtarget home_pos;

    PROC PathHome()
        home_pos.robax:=Home1Rob;
        home_pos.extax:=Home1Ext;
        MoveAbsJ home_pos,v1000,fine,tool0;
    ENDPROC

    PROC main()
        PathHome;
    ENDPROC
ENDMODULE
[/CODE]




Henrik Berlin2012-05-31 08:37:16