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    • Write a Robtarget Help !!!

    blackcoder
    blackcoder ✭
    in Developer Tools

    Dim c As New Controller()
    Dim motion As MotionSystem = c.MotionSystem
    Dim mech As MechanicalUnit = motion.GetActiveMechanicalUnit()
    Dim robP As RobTarget
    robP = mech.GetPosition(CoordinateSystemType.WorkObject)

    Dim rdRobtarget As RapidData = c.Rapid.GetRapidData("T_ROB1", "SrvSysInit", "ptest")
    Dim rtValue As RobTarget = DirectCast(rdRobtarget.Value, RobTarget)
    rdRobtarget.WriteItem(robP)


    i want to change ptest robtarget position to my current robtarget position but always an error not change my ptest robtarget what is the problem please help

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    • Lennart H
      Lennart H ✭

      Please post the error text.

      Lennart H
    • blackcoder
      blackcoder ✭
      error code is
       

      object reference not set to an instance of an object

       

      See the end of this message for details on invoking
      just-in-time (JIT) debugging instead of this dialog box.

      ************** Exception Text **************
      Message: Object reference not set to an instance of an object.

      System.NullReferenceException: Object reference not set to an instance of an object.
         at ABB.Robotics.Controllers.RapidDomain.UserDefined.FillFromString(String newValue)
      <--

       ABB.Robotics.InternalException at FillFromString in ABB.Robotics.Controllers.RapidDomain.UserDefined
         at ABB.Robotics.Dcl.ExceptionHelp.ReThrowException(String objStr, String method, Exception exception, String[] additionalinfo)
         at ABB.Robotics.Dcl.ExceptionHelp.GenerateException(String objStr, String method, Exception exception, String[] additionalinfo)
         at ABB.Robotics.Dcl.ExceptionHelp.GenerateException(Object obj, String method, Exception exception, String[] additionalinfo)
         at ABB.Robotics.Dcl.ExceptionHelp.GenerateException(Object obj, String method, Exception exception)
         at ABB.Robotics.Controllers.RapidDomain.RapidData.ReadItem(Int32[] index)


       
    • Lennart H
      Lennart H ✭

      Are you trying to write to a RobTarget stored in an array? I put you the question because the WriteItem method is used when writing to a specific RobTarget that is stored in an array of RobTargets.

      If this is not the case please find below code (C#) that will read the current position of the manipulator and then writes the data to a RobTarget variable.
       


      m_MotionSystem =       this.controller.MotionSystem;
      m_MechanicalUnit = m_MotionSystem.ActiveMechanicalUnit;
      RobTarget CurrPos = new RobTarget();
      RobTarget rt = new RobTarget();
      RapidData rd = this.controller.Rapid.GetRapidData("T_ROB1", "sample", "pTest");
      CurrPos=m_MechanicalUnit.GetPosition(      CoordinateSystemType.WorkObject);
      rt=(ABB.Robotics.Controllers.RapidDomain.      RobTarget)rd.Value;
      rt = CurrPos;
      this.m_master = Mastership.Request(this.controller.Rapid);
      rd.Value = rt;
      this.m_master.Dispose();
      Lennart H

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