Robot writin on desk

St4rk

Hello everyone, At first I'm sorry for my English.
I want do program that robot IRB 120 write on table word that person write on flexpendant. How I should this do ? I think I should do one letter-one module and then call individual letter. But I dont know how I should do that one string ex.("Hello") program generate module for every letter.

Pavel Riabichev

Hello

You can have different procs/routines for each letter which you can call with a another proc that reads the input string of the word you want to write

Here is example:

MODULE PROG

    PERS string sText;

    PROC main()

        prWriteText "Hi";

    ENDPROC

    PROC prWriteText(string sText)

        VAR string sStringPart;

        VAR num nLenght;

        nLenght:=StrLen(sText);

        FOR i FROM 1 TO nLenght DO

            sStringPart:=StrPart(sText,i,1);

            IF sStringPart="H" OR sStringPart="h" THEN

                prMotion_for_H;

            ELSEIF sStringPart="I" OR sStringPart="i" THEN

                prMotion_for_I;

            ENDIF

        ENDFOR

    ENDPROC

    PROC prMotion_for_H()

        !Robot motions for H letter 

    ENDPROC

    PROC prMotion_for_I()

        !Robot motions for I letter 

    ENDPROC

St4rk

Thanks Pavel for response, I'm going try it and then I ask again if I will have doubt. And one more question, How I do that the next letter is moved by a set distance ?

Pavel Riabichev

Hello St4rk 

You can add an offset to the FOR loop, so for each loop cycle it will add 100mm offset starting from 0.
See example:

MODULE PROG

    PERS string sText;

    PERS num nLetterDistance;

    PERS robtarget pWrite_H_1;

    PROC main()

        prWriteText "Hi";

    ENDPROC

    PROC prWriteText(string sText)

        VAR string sStringPart;

        VAR num nLenght;

        nLenght:=StrLen(sText);

        FOR i FROM 1 TO nLenght DO

            nLetterDistance:=(i-1)*100;

            sStringPart:=StrPart(sText,i,1);

            IF sStringPart="H" OR sStringPart="h" THEN

                prMotion_for_H;

            ELSEIF sStringPart="I" OR sStringPart="i" THEN

                prMotion_for_I;

            ENDIF

        ENDFOR

    ENDPROC

    PROC prMotion_for_H()

        !Robot motions for H letter 

        MoveL Offs(pWrite_H_1,nLetterDistance,0,0),v1000,z50,tool0\WObj:=wobj0;

    ENDPROC

    PROC prMotion_for_I()

        !Robot motions for I letter 

    ENDPROC

ENDMODULE