Path Offset (612-1) problem

radekck

Hi!

I am using student version of RobotStudio 5.13 .

I've got a problem with implementing the Path Offset from the instruction 3HAC 18152-1 Revision: E example.

I've written it like this:

[QUOTE]

PROC main()

start_pos;

sciezka_klej;

ENDPROC

PROC start_pos()

ActUnit STN1;

MoveJ Target_1,v1000,z5,GlueGunWObj:=zbiornik_up;

ENDPROC

VAR intnum int_no1;

VAR corrdescr id;

VAR pos sens_val;

PROC sciezka_klej()

ConfL OFF;

CorrCon id;

CONNECT int_no1 WITH UpdateCorr;

ITimerSingle, 0.2, int_no1;

MoveL Target_11,v100,z10,GlueGunWObj:=zbiornik_upCorr;

CorrDiscon id;

IDelete int_no1;

MoveC Target_21,Target_31,v1000,z0,GlueGunWObj:=zbiornik_up;

MoveL Target_41,v100,z100,GlueGunWObj:=zbiornik_up;

MoveC Target_51,Target_61,v1000,z0,GlueGunWObj:=zbiornik_up;

MoveL Target_71,v100,z100,GlueGunWObj:=zbiornik_up;

MoveC Target_81,Target_91,v1000,z0,GlueGunWObj:=zbiornik_up;

MoveL Target_101,v100,z100,GlueGunWObj:=zbiornik_up;

MoveC Target_111,Target_121,v1000,z0,GlueGunWObj:=zbiornik_up;

MoveL Target_131,v100,z100,GlueGunWObj:=zbiornik_up;

ENDPROC

TRAP UpdateCorr

ReadSensor sens_val.x, sens_val.y, sens_val.z;

CorrWrite id, sens_val;

IDelete int_no1;

CONNECT int_no1 WITH UpdateCorr;

ITimerSingle, 0.2, int_no1;

ENDTRAP

[/QUOTE]

And a error appears:

I would also like to ask, if it is possible to use this function with Path Recovery and Independent Axes on one positioner.

I will appreciate your help.

Henrik Berlin

Moved to RobotWare

Bertie

Hi,
you have to do the declaration in the right way like below.


Module xyz

VAR intnum int_no1;

VAR corrdescr id;

VAR pos sens_val;

PROC main()

start_pos;

sciezka_klej;

ENDPROC

PROC start_pos()

ActUnit STN1;

MoveJ Target_1,v1000,z5,GlueGunWObj:=zbiornik_up;

ENDPROC

PROC sciezka_klej()

ConfL OFF;

CorrCon id;

CONNECT int_no1 WITH UpdateCorr;

ITimerSingle, 0.2, int_no1;

MoveL Target_11,v100,z10,GlueGunWObj:=zbiornik_upCorr;

CorrDiscon id;

IDelete int_no1;

MoveC Target_21,Target_31,v1000,z0,GlueGunWObj:=zbiornik_up;

MoveL Target_41,v100,z100,GlueGunWObj:=zbiornik_up;

MoveC Target_51,Target_61,v1000,z0,GlueGunWObj:=zbiornik_up;

MoveL Target_71,v100,z100,GlueGunWObj:=zbiornik_up;

MoveC Target_81,Target_91,v1000,z0,GlueGunWObj:=zbiornik_up;

MoveL Target_101,v100,z100,GlueGunWObj:=zbiornik_up;

MoveC Target_111,Target_121,v1000,z0,GlueGunWObj:=zbiornik_up;

MoveL Target_131,v100,z100,GlueGunWObj:=zbiornik_up;

ENDPROC

TRAP UpdateCorr

ReadSensor sens_val.x, sens_val.y, sens_val.z;

CorrWrite id, sens_val;

IDelete int_no1;

CONNECT int_no1 WITH UpdateCorr;

ITimerSingle, 0.2, int_no1;

ENDTRAP
ENDMODUL

radekck

Thanks, it helped with mentioned error, but now it's something about the ReadSensor procedure.

[Quote]/klejenie/RAPID/T_ROB1/modul_klej(79,2): Error 130 : Reference error : Reference to unknown procedure ReadSensor

[/quote]