Get current robot location

kamemasta

How do I verify the robot's current location? I am trying to use this but it just falls through.

  FUNC bool CheckLocation(

    num DistanceMM,

    robtarget Location,

   
obtarget Loc2

   
obtarget Loc3

   
obtarget Loc4

   
obtarget Loc5

   
obtarget Loc6

   
obtarget Loc7

   
obtarget Loc8)

    VAR robtarget CurRobT2;

    VAR num nDistance:=0;

    !

    ! get the current location

    CurRobT2:=CRobT();

    !

    ! check  location distance and axis configuration

    IF RobtToRobtDist(Location,CurRobT2)<DistanceMM AND RobtToRobtConf(Location,CurRobT2Approx) THEN

      RETURN TRUE;

    ENDIF

    !

    IF Present(Loc2) THEN

      ! check alternate location 2 

      IF RobtToRobtDist(Loc2,CurRobT2)<DistanceMM AND RobtToRobtConf(Loc2,CurRobT2Approx) THEN

        RETURN TRUE;

      ENDIF

    ENDIF

    !

    IF Present(Loc3) THEN

      ! check alternate location 3 

      IF RobtToRobtDist(Loc3,CurRobT2)<DistanceMM AND RobtToRobtConf(Loc3,CurRobT2Approx) THEN

        RETURN TRUE;

      ENDIF

    ENDIF

.....

and so on...

The pointer passes by the IF Present(Loc) command even though its in the top of the function. Any help is appreciated.

Thanks

PerSvensson

Be aware of that the robot needs to stand still when you read the position with CRobT

Nata_lia

Can you use ABB worldzone option for that?. You can use worldzone to activate a digital output when ever robot reaches predefined space.

Henrik Berlin

Moved to RobotWare forum.

Jwisdom

THis function requires a passed in distance and a passed in robottarget.

 

The function then appears to back check the current position verus the passed in robotarget to see if the robot is within whatever distnace you passed in. If it is within the distance then it will return a TRUE statement if it is not then it will return a false. That is just an assumption since you didnt post all of the code.

 

Seeing the calling routine that calls this function would also help as well.