How can i Store a Robot target Name in a string array or variable

liquidrobotics

Hi Guy's

Does anyone know how i can store a robtarget name in a string variable or String array (for lots of robtargets). Ideally i would like to store them as they are listed in my moves in their routines. I know how you can store the data, also i know how to use GETDATAVAL command but that searches all robtargets and not in any order.

I didnt think it would be that hard but i cant seem to find a way using code.

Can anyone help?

Matthew

Henrik Berlin

You just described the solution, didn't you? Here is my implementation of it:

MODULE Module1
 CONST robtarget Target_10:=[[364.353809768,0,704.908015457],[0.500000013,0,0.866025396,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
 CONST robtarget Target_20:=[[364.353813367,0,601.342672798],[0.499999992,0,0.866025408,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
 CONST robtarget Target_30:=[[347.168289523,0,494.18528826],[0.332605283,0,0.94306613,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

 CONST string myrobtargetnames{3}:=["Target_20","Target_30","Target_10"];

 PROC Path_10()
  VAR robtarget current_robtarget;

  FOR i FROM 1 TO 3 DO
   GetDataVal myrobtargetnames{i},current_robtarget;
   MoveL current_robtarget,v1000,z100,tool0\WObj:=wobj0;
  ENDFOR
 ENDPROC

 PROC main()
  Path_10;
 ENDPROC

ENDMODULE

liquidrobotics

Hi Henrik 

Thanks for that, but what I really need to know is can you read existing RobTarget names into a string array? 

Is there a way of reading the name of a Robtarget eg "w4000768" and writing it into an array.

Basically your solution backwards?

I know you can read the .Trans and .Rot but is there such a thing as ".Name" in rapid.

I.E.

    "Read p40 into an array"

    MoveL p40,vmax,z50,ToolG1_Rob\WObj:=wobjuf1;

    "then Read p50 into an array"

    MoveL p50,vmax,z200,ToolG1_Rob\WObj:=wobjuf1;

    !

    "then Read w400030 into an array" and so on

    SpotL w400030,vmax,Sch187,Prs350,ToolG1_Rob\WObj:=wobjuf1;

    !

    "then Read p1070 into an array"

    MoveL p1070,vmax,z50,ToolG1_Rob\WObj:=wobjuf1;

    !

liquidrobotics

Hi Henrik

I'm assuming you don't know the answer, and you can't read and store the Robtarget Name using code?

Matthew

Henrik Berlin

I am sorry, I don't know the answer. Perhaps you can read the data from a text file and get the names from there.

 

liquidrobotics

Thanks anyway Hendrik

I have now managed to do it, creating a function robtarget routine and string name, and then using VB to create the function for me in the move line."Target("p10")"

I don't know why ABB can't give you access to the name, its only a string after all. I.E. "stRobTname:=p10.name;" but in rapid.

ARVSolutions

I agree. I think that ABB should allow access to the name variable in rapid code. I could really use this functionality for displaying meaningful messages in the event log during a smart robot recovery loop.

DenisFR

@liquidrobotics does this code make what you needs?

    PROC NameTest()

        CONST robtarget p10:=[[160,405,-152.2],[0,1,0,0],[-2,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
        VAR string sPosName;
       
        MoveL SaveName(p10,sPosName),vmax,fine,tool0;
        TPWrite sPosName+" done";
    ENDPROC
   
    FUNC robtarget SaveName(robtarget rtPos, INOUT string name)
        name:=ArgName(rtPos);
        RETURN rtPos;
    ENDFUNC

PS: Code format doesn't work...