So I have a question for you all. I am trying to write a pick up routine that based on the program being ran it needs to either pick up from side A or side B of a table. The issue I am having is that I want my last move to be a LIN move but when I put that in using the inline form I get a message that says: " Selected motion type is not allowed here!" but I can put it in as a PTP and it will accept it. Do you all have any idea what's up?
Code
DEF SetPart()
IF riDoorOpen THEN
;FOLD PTP SetHome Vel=100 % PDAT4;%{PE}%R 8.3.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:SetHome, 3:, 5:100, 7:PDAT4
$BWDSTART=FALSE
PDAT_ACT=PPDAT4
FDAT_ACT=FSetHome
BAS(#PTP_PARAMS,100)
PTP XSetHome
;ENDFOLD
IF roSideARunning THEN
;FOLD LIN SetSideAHome Vel=0.3 m/s CPDAT5 Tool[0] Base[0];%{PE}%R 8.3.31,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:SetSideAHome, 3:, 5:0.3, 7:CPDAT5
$BWDSTART=FALSE
LDAT_ACT=LCPDAT5
FDAT_ACT=FSetSideAHome
BAS(#CP_PARAMS,0.3)
LIN XSetSideAHome
;ENDFOLD
ENDIF
IF roSideBRunning THEN
;FOLD LIN SetSideBHome Vel=0.3 m/s CPDAT6 Tool[0] Base[0];%{PE}%R 8.3.31,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:SetSideBHome, 3:, 5:0.3, 7:CPDAT6
$BWDSTART=FALSE
LDAT_ACT=LCPDAT6
FDAT_ACT=FSetSideBHome
BAS(#CP_PARAMS,0.3)
LIN XSetSideBHome
;ENDFOLD
ENDIF
;FOLD LIN PickHome Vel=0.3 m/s CPDAT8 Tool[0] Base[0];%{PE}%R 8.3.31,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:PickHome, 3:, 5:0.3, 7:CPDAT8
$BWDSTART=FALSE
LDAT_ACT=LCPDAT8
FDAT_ACT=FPickHome
BAS(#CP_PARAMS,0.3)
LIN XPickHome
;ENDFOLD
ELSE
rgoRobotError=3
WAIT SEC 1
rgoRobotError=0
MsgNotify("Door not open, can not set down part.")
HALT
ENDIF
END
Display More
The most frustrating part is that in the routine above it it works.
Code
DEF PickPart()
IF riDoorOpen THEN
;FOLD PTP PickHome Vel=100 % DEFAULT Tool[0] Base[0];%{PE}%R 8.3.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:PickHome, 3:, 5:100, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FPickHome
BAS(#PTP_PARAMS,100)
PTP XPickHome
;ENDFOLD
IF roSideARunning THEN
;FOLD LIN PickSideAHome Vel=0.3 m/s CPDAT1 Tool[0] Base[0];%{PE}%R 8.3.31,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:PickSideAHome, 3:, 5:0.3, 7:CPDAT1
$BWDSTART=FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FPickSideAHome
BAS(#CP_PARAMS,0.3)
LIN XPickSideAHome
;ENDFOLD
ENDIF
IF roSideBRunning THEN
;FOLD LIN PickSideBHome Vel=0.3 m/s CPDAT2 Tool[0] Base[0];%{PE}%R 8.3.31,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:PickSideBHome, 3:, 5:0.3, 7:CPDAT2
$BWDSTART=FALSE
LDAT_ACT=LCPDAT2
FDAT_ACT=FPickSideBHome
BAS(#CP_PARAMS,0.3)
LIN XPickSideBHome
;ENDFOLD
ENDIF
;FOLD LIN PickHome Vel=0.3 m/s CPDAT4 Tool[0] Base[0];%{PE}%R 8.3.31,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:PickHome, 3:, 5:0.3, 7:CPDAT4
$BWDSTART=FALSE
LDAT_ACT=LCPDAT4
FDAT_ACT=FPickHome
BAS(#CP_PARAMS,0.3)
LIN XPickHome
;ENDFOLD
ELSE
rgoRobotError=3
WAIT SEC 1
rgoRobotError=0
MsgNotify("Door not open, can not pick up part.")
HALT
ENDIF
END
Display More