robtarget rapid editor

Dante1990

Hi

I create a path with eight Robtargets, i wanna change two of the eight robtargets foranother path.

is there some command withthat i can dao that? I find the the command pos.x=posx+50, but it doesnt work.

Iw anna change only the x-position of the two robtargets.

best regards

SjoLi

This is one way of doing what you want:

Create a copy of the targets you want to offset and make the target you use in your moveinstruction equal to the one you need

task pers robtarget target_30 := [[x,y,z[,[q1,q2,q3,q4]....

task pers robtarget target_30_original := [[10,10,10],....

task pers robtarget target_30_offset := [[60,10,10],....

IF PATH is 1 then

 target_30 = target_30_original

ELSE

 target_30 = target_30_offset

ENDIF

Dante1990

hi sjoLi thanks for the answer, but i think i need an array, because i have over 60 positons.
I try to create a array.

PERS robtarget einpal{13}:=[[Target_70],[Target_80],[Target_90],[Target_100],[Target_110],[Target_120],[Target_13]];

PROC greifen()
   FOR i FROM 1 to 13 DO
    MoveL einpal,v1000,z100,Greifer_1\WObj:=wobj0;
 

   ENDFOR

ENDPROC

is that right so?

tacnurt

Or just use the original points in your other paths and use an offset inst on them (similar to above).

MoveJ Offs(pOriginal, 50, 0, 0), v500, z1....etc

As long as your targets are not local if you are using different routines for the separate paths.

tacnurt

Or going on like SjoLi has described....

Make your ' x'offset a variable which only switches on special cases (Test/Case or If/Then)

PROC Path1()

MoveJ Offs(pOriginal, regXOffs, 0, 0) v500, z1

ENDPROC

 

Case 1

regXOffs := 50

Path1;

 

Case 2

regXOffs := 0

Path1;

 

Dante1990

Hi I have a question, can i with your declarition choose different Paths or need i an Array. Path a Path b Path c Path d Path e path f Best regards