Robtarget Manipulations / Calculations v.s Pos

AlanAutoTech

Morning all,

 Im trying to perform calculations/Frame offsets ect as follows and im missing something in the syntax.. Error im getting is Type mismatch robtarget found type Pos.. thanks in advance for the assistance

******************************CODE***************************

PROC AppPark()
  bPathFound:=FALSE;
  temp_wobj:=CWObj();
  temp_tool:=CTool();
  pAppTc:=pApproTChanger.trans;
  pAppSafePark:=pApproSafePark.trans;
  pSafePark:=plocSafePark.trans;
  pAppWelder:=pApproWelder.trans;
  pWelder:=pLocPtWelder.trans;
  pAppLHTABLE:=pApproLHTable.trans;
  pAppRHTABLE:=pApproRHTable.trans;
  pAppDOOR:=pApproDoor.trans;
  pDOOR:=pLocPtDoor.trans;
  pAppScrap:=pApproScrap.trans;
  
  pos_act:=CPos(Tool:=temp_toolWObj:=temp_wobj);
  TPErase;
  TPWrite "Pos_Act.X="NUM:=pos_act.X;
  TPWrite "Pos_Act.Y="NUM:=pos_act.Y;
  IF (distance(pos_act,pAppSafePark)=0) or (distance(pos_act,pSafePark)=0) AND bPathFound=False THEN
   bpathfound:=TRUE;
  ENDIF
  IF distance(pos_act,pAppTc)=0 AND bPathFound=False THEN
   TPWrite " Moving From TC Approach";
   pTempPoint:=pApproTChanger;
   pTempPoint.Trans.Z:=nSafeZ;
   MoveL pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproTChanger);
   MoveJ pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproSafePark);
   MoveJ pTempPoint,v1000,fine,temp_tool;  
   MoveJ pApproSafePark,v1000,fine,temp_tool;
   bpathfound:=TRUE;
  ENDIF
  IF distance(pos_act,pAppWelder)=0 AND  bPathFound=False  THEN
   TPWrite " Moving From Welder Approach";
   pTempPoint:=pApproWelder;
   pTempPoint.Trans.Z:=nSafeZ;
   MoveL pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproWelder);
   MoveJ pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproSafePark);
   MoveJ pTempPoint,v1000,fine,temp_tool;  
   MoveJ pApproSafePark,v1000,fine,temp_tool;
   bpathfound:=TRUE;
  ENDIF
  IF  (distance(pos_act,pApproLHTable)=0)AND bPathFound=False  THEN
   TPWrite " Moving From LH Table Approach";
   pTempPoint:=pApproLHTable;
   pTempPoint.Trans.Z:=nSafeZ;
   MoveL pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproLHTable);
   MoveJ pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproSafePark);
   MoveJ pTempPoint,v1000,fine,temp_tool;  
   MoveJ pApproSafePark,v1000,fine,temp_tool;
   bpathfound:=TRUE;
  ENDIF
  IF  (distance(pos_act,pApproRHTable)=0)AND bPathFound=False  THEN
   TPWrite " Moving From RH Table Approach";
   pTempPoint:=pApproRHTable;
   pTempPoint.Trans.Z:=nSafeZ;
   MoveL pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproRHTable);
   MoveJ pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproSafePark);
   MoveJ pTempPoint,v1000,fine,temp_tool;  
   MoveJ pApproSafePark,v1000,fine,temp_tool;
   bpathfound:=TRUE;
  ENDIF
  IF  (distance(pos_act,pApproDoor)=0) or (distance(pos_act,pDoor)=0) AND bPathFound=False  THEN
   TPWrite " Moving From RH Table Approach";
   pTempPoint:=pApproDoor;
   pTempPoint.Trans.Z:=nSafeZ;
   MoveL pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproDoor);
   MoveJ pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproSafePark);
   MoveJ pTempPoint,v1000,fine,temp_tool;  
   MoveJ pApproSafePark,v1000,fine,temp_tool;
   bpathfound:=TRUE;
  ENDIF 
  IF  (distance(pos_act,pAppScrap)=0) AND bPathFound=False  THEN
   TPWrite " Moving From Welder Approach";
   pTempPoint:=pApproScrap;
   pTempPoint.Trans.Z:=nSafeZ;
   MoveL pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproScrap);
   MoveJ pTempPoint,v1000,fine,temp_tool;
   pTempPoint:=CalcSafePoint(pApproSafePark);
   MoveJ pTempPoint,v1000,fine,temp_tool;  
   MoveJ pApproSafePark,v1000,fine,temp_tool;
   bpathfound:=TRUE;
  ENDIF
 IF bPathFound=False THEN
 !Current position is not a predefined approach point
  bApproSuccess:=FALSE;
 ELSE
 !Current position was found
  bApproSuccess:=TRUE;
 ENDIF
  RETURN; 
 ENDPROCFUNC POS CalcSafePoint(robtarget pStart)
     !Return point at SafeRadius and SafeZ towards the robot center
    !Define Zero
   pZeroPoint:=pZero;
    !Find radius
    !equalize the Z component
   pZeroPoint.Trans.Z:=pStart.Trans.Z;
    !Now calculate the starting radius
    nRadius:=distance(pStart.Trans,pZeroPoint.Trans);
    pReturn:=pZero;   
    IF nRadius<nSafeRadius THEN
   !Safe to move without retracting
   pZeroPoint.Z:=pStart.Trans.Z;
   pReturn.Trans.X:=pStart.Trans.X;
   pReturn.Trans.Y:=pStart.Trans.Y;
   pReturn.Trans.Z:=nSafeZ;
    ELSE
   !retract to nSafeRadius
   pZeroPoint.Z:=pStart.Z;
   pReturn.Trans.Z:=nSafeZ;
   pReturn.Trans.X:=pStart.Trans.X*(nSafeRadius/distance(pStart.TRANS,pZeroPoint.Trans));
   pReturn.Trans.Y:=pStart.Trans.Y*(nSafeRadius/distance(pStart.TRANS,pZeroPoint.Trans));
    ENDIF
 RETURN pReturn;
ENDFUNC