Array of tooldata

Daper
✭
Hello,
My goal is to have a parametric tooldata that depends on a variable input and use the following:
MoveL AnyPos, v100, fine, ToolInUse{tool_idx};
With ToolInUse being an array of tooldatas defined as
TASK PERS tooldata ToolInUsed{3} := [
[TRUE,[[x,y,z].......],
[TRUE,[[a,b,c].......],
[TRUE,[[d,e,f].......],
];
and tool_idx an integer from that can take values 1,2,3
I know such a trick is possible with robtarget, e.g.
MoveL Pos{idx_pos}, v100,fine, toolxyz
but I couldn't figure out how to make it work with tooldata in the same way.
Is there any workaround someone knows ?
My goal is to have a parametric tooldata that depends on a variable input and use the following:
MoveL AnyPos, v100, fine, ToolInUse{tool_idx};
With ToolInUse being an array of tooldatas defined as
TASK PERS tooldata ToolInUsed{3} := [
[TRUE,[[x,y,z].......],
[TRUE,[[a,b,c].......],
[TRUE,[[d,e,f].......],
];
and tool_idx an integer from that can take values 1,2,3
I know such a trick is possible with robtarget, e.g.
MoveL Pos{idx_pos}, v100,fine, toolxyz
but I couldn't figure out how to make it work with tooldata in the same way.
Is there any workaround someone knows ?
0
Comments
-
VAR tooldata CurrentTool;
CurrentTool:=ToolInUse{tool_idx};
MoveL AnyPos, v100, fine, CurrentTool;
Lee Justice0 -
Thank you so much for your quick reply, really appreciate0
Categories
- All Categories
- 5.6K RobotStudio
- 398 UpFeed
- 20 Tutorials
- 14 RobotApps
- 300 PowerPacs
- 406 RobotStudio S4
- 1.8K Developer Tools
- 250 ScreenMaker
- 2.8K Robot Controller
- 336 IRC5
- 67 OmniCore
- 8 RCS (Realistic Controller Simulation)
- 828 RAPID Programming
- 12 AppStudio
- 4 RobotStudio AR Viewer
- 19 Wizard Easy Programming
- 107 Collaborative Robots
- 5 Job listings