hello to all,
I can not use the ClearPath instructions because it is not implemented on my robot controller.
I would like to stop a moving and starting a new one canceling the movement of the robot was moving
thanks
hello to all,
I can not use the ClearPath instructions because it is not implemented on my robot controller.
I would like to stop a moving and starting a new one canceling the movement of the robot was moving
thanks
I believe this example does what you're describing, but it assumes that you will want to continue the path again later. (I think that's what you're describing).
VAR intnum intno1;
...
PROC main()
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos
VAR robtarget p10;
StopMove;
StorePath;
p10:=CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL home,v500,fine,tool1;
WaitDI di1,0;
Move L p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
Actually his problem is that his controller is not equipped with instruction 'ClearPath;' (therefore I suppose that StorePath/RestoPath is not availabe either).
I think the problem is solved
TRAP CheckCollision
ISleep iColl;
bColl:=TRUE;
pColl:=CRobT(\Tool:=t1\WObj:=wobj0);
MoveL Offs(pColl,0,0,100),v200,z5,t1;
StopMove;
StorePath;
RestoPath;
StartMove;
ENDTRAP
thanks