How can I visualize a routine with parameters in the VC

Luxrobotic

Good evening everybody,

one of my customer has made some changes in one of my programs. He add some routines with parameters.
The problem is that now, I can't load these new routines in the VC, and make adjustments of the robtargets.


The routines look like this:

PROC V408_Trunk_85_86_87_88_mod(robtarget p_offset)
    CutL\On, Offs(p_offset,0,0,0), vCutFast, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
        MoveL Offs(p_offset,17,0,0),vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
        MoveL Offs(p_offset,17,-7.5,0),vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
        MoveC Offs(p_offset,0,-18.5,0),Offs(p_offset,-17,-7.5,0),vCutMedium,z1,tjet8\WObj:=Wobj_V408_Trunk_R2_T2;
        MoveL Offs(p_offset,-17,7.5,0),vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
        MoveC Offs(p_offset,0,18.5,0),Offs(p_offset,17,7.5,0),vCutMedium,z1,tjet8\WObj:=Wobj_V408_Trunk_R2_T2;
        MoveL Offs(p_offset,17,-3,0),vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
    CutL\Off, Offs(p_offset,0,-3,0), vCutMedium, z1, tJet8\WObj:=Wobj_V408_Trunk_R2_T2;
    !
ENDPROC


I know that it should be possible to create some Action or Move instructions but I tried to, without any success.
I just want to be able to modify the position of the parametered robtarget.

Thanks in advance.

Anders S

Hi,

I assume your problem is that you can't synchronize the procedure to the RobotStudio station from the VC.

To be able to do that you need to create a "Move Instruction Template" for the routine in "Instruction Template Manager". But you need to add the tooldata and workobject to the procedure first:

    PROC V408_Trunk_85_86_87_88_mod(robtarget p_offset,,PERS tooldata tool\PERS wobjdata wobj)

    CutL\On, Offs(p_offset,0,0,0), vCutFast, z1, tooldata \WObj:=wobj;
        MoveL Offs(p_offset,17,0,0),vCutMedium, z1, tooldata \WObj:=wobj;
        MoveL Offs(p_offset,17,-7.5,0),vCutMedium, z1, tooldata \WObj:=wobj;
        MoveC Offs(p_offset,0,-18.5,0),Offs(p_offset,-17,-7.5,0),vCutMedium,z1,tooldata \WObj:=wobj;
        MoveL Offs(p_offset,-17,7.5,0),vCutMedium, z1, tooldata \WObj:=wobj;
        MoveC Offs(p_offset,0,18.5,0),Offs(p_offset,17,7.5,0),vCutMedium,z1,tooldata \WObj:=wobj;
        MoveL Offs(p_offset,17,-3,0),vCutMedium, z1, tooldata \WObj:=wobj;
    CutL\Off, Offs(p_offset,0,-3,0), vCutMedium, z1, tooldata \WObj:=wobj;
    !
ENDPROC