robtarget:=robtarget+10

DLcygnet

I've got a list/path that includes hundreds of points. I'd like to run through a certain drill/deburring operation at every point. Rather than creating a program where I move to every point and call the same routine after every point (resulting in a zillion page redundant program), is there any way I can increment a variable robtarget? These points are not spaced or oriented in any consistent pattern so I can't just increment their components with trans or pose.

I've tried incrementing a variable num and writing that as an addendum to a string "Target_", but passing the new string to a variable robtarget fails since the string doesn't count as a reference/pointer or contain the right data type. What's weird is that Programmaker tells me there are no errors in my program. But RobotStudios dies/can't load the program as is. The relevant part in my short experimental program looks something like this (with everything defined appropriately):

WHILE point<50 DO

Apoint:=ValToStr(point);
newstring:=Atarget+Apoint;
ok:=StrToVal(newstring,Target_point);
MoveL Target_point,v200,z1,tool0WObj:=wobj0;
rDRILL;
point:=point+10;
ENDWHILE

DLcygnet

And yes, I'm trying to do this WITHOUT having to resort to an array. But if that's the only way to do it, could I please have the proper format/syntax for a robtarget array?

DLcygnet

point starts as 10

Atarget:="Target_"

 

DLcygnet

*continues browsing the manuals* If there were something like CallByVar that worked for variables (persistant veriables?) instead of procedures only... then I think I'd be set!

Target_point:=(CallByVar("Target_",point));
MoveL Target_point,v200,z1,tool0WObj:=wobj0;
rDRILL;
point:=point+10;

I really wish this worked....

Per Svensson

Hi
What you could do is create your own Move instruction which includes the stuff you want to do after the motion. Here is just a simple example how to do it, have also included the array stuff.

%%%
  VERSION:1
  LANGUAGE:ENGLISH
%%%
MODULE ABB
  VAR robtarget myTarget{2}:=[[[0,0,0],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[0,0,0],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]];
  VAR robtarget myTarget1:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  VAR robtarget myTarget2:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  VAR robtarget myTarget3:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !My special instruction
  PROC MyMoveL(
    robtarget mytarget,
    speeddata myspeed,
    zonedata myzone,
    PERS tooldata mytool,
    PERS wobjdata mywobj)
    MoveL mytarget,myspeed,myzone,mytoolWObj:=mywobj;
    !do the drill stuff
    rDrill;
  ENDPROC
  !
  PROC main()
    !IF you want to loop thru the array of robtargets
    FOR i FROM 1 TO 2 DO
      MyMoveL myTarget{i},v200,z1,tool0,wobj0;
    ENDFOR
    !
    !or just if you want to have the motion instruction in a flow
    MyMoveL myTarget1,v200,z1,tool0,wobj0;
    MyMoveL myTarget2,v200,z1,tool0,wobj0;
    MyMoveL myTarget3,v200,z1,tool0,wobj0;
  ENDPROC
ENDMODULE

kdillinger

But the question is, can you construct the robtarget name using a variable?  For example, can you pass the robtarget name of "Rob_Move"+NumToStr(x,0) as a parameter to the subroutine as the name of the robtarget?  I'm guessing that since the name, in this example, is constructed as a string that it will pass it as a string to the subroutine.  If that is the case, you will get a type mismatch error.

 

Only the array portion of the suggested solution uses a variable to define which robtarget will be used.  Can this be accomplished on non-arrayed robtargets that have similar names except for an identifier, such as Rob_Move1, RobMove2, RobMove3.......RobMove20.  ??????

mattdavis

have done this before (years ago and cant remeber exactly the process)

I think I used GetDataVal 

something like this;

GetDataVal "target"+ ValToStr(num), temprobtarget

MoveL temprobtarget

also answered the over in this post too;

http://forums.robotstudio.com/forum_posts.asp?TID=4801