RobotStudio event

RS 5.15.02 - how to get Const robtargets that are used in subtask?

I have a lot of targets defined from a generator, they are inside a module

CONST robtarget t_1_0_0 :=[[ 37.067,-53.495,6.767 ],[0.995255,0.039895,0.003555,0.088677],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; ! AngleX:100,183251341412. AngleZ:85,4089881164014
CONST robtarget t_1_0_1 :=[[ 33.199,-54.005,6.767 ],[0.997308,0.034142,0.002220,0.064859],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; ! AngleX:97,4418910339221. AngleZ:86,0786040674235
CONST robtarget t_1_0_2 :=[[ 21.859,-55.478,6.767 ],[0.997908,0.029445,0.001698,0.057534],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; ! AngleX:96,5994008269083. AngleZ:86,6197574978202
CONST robtarget t_1_0_3 :=[[ 10.881,-56.598,6.767 ],[0.998280,0.029408,0.001493,0.050697],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; ! AngleX:95,8144749209202. AngleZ:86,6252256562533
CONST robtarget t_1_0_4 :=[[ 5.776,-57.119,6.767 ],[0.998615,0.029474,0.001286,0.043561],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; ! AngleX:94,9954538490168. AngleZ:86,6187859839992

They are used in some generated PROCs as seen , the code is running fine however I can't get the generated MoveL's back to RobotStudio which is causing a lot of problems for me
Is it my internal PROC TX_String that is causing RobotStudio to hickup?

PROC SubTask3D0(String ParentTaskID)
TX_String 10001,ParentTaskID+"S23";
MoveL t_1_0_0,speedPolishing,zonedataPolishing,tRapProgram3D \WObj:=wobjRapProgram; !Instruction.TaskNumber
TX_String 10001,ParentTaskID+"S24";
MoveL t_1_0_1,speedPolishing,zonedataPolishing,tRapProgram3D \WObj:=wobjRapProgram; !Instruction.TaskNumber
TX_String 10001,ParentTaskID+"S25";
MoveL t_1_0_2,speedPolishing,zonedataPolishing,tRapProgram3D \WObj:=wobjRapProgram; !Instruction.TaskNumber
TX_String 10001,ParentTaskID+"S26";

I hope to get the MoveLs to show properly since I need to inspect the coordinates before unleashing the robot :-)


  • Hi,

    RobotStudio does not support synchronization of procedures with in parameters. So if you take away "String ParentTaskID" the procedure can be synchronized to the station.

    PROC SubTask3D0()
    ! TX_String 10001,ParentTaskID+"S23";
    MoveL t_1_0_0,speedPolishing,zonedataPolishing,tRapProgram3D \WObj:=wobjRapProgram; !Instruction.TaskNumber

    Best regards,
    Anders Spaak
    ABB Robotics
  • Ok, thanks for clarifying it.

    May I propose you add a feature so that it is possible to synchronize what RobotStudio can understand instead of ignoring all content :-)

    The TX_String call is telling me how far the program is, and the path generator puts it in to the proc.