Hello,
i'm using the ABB YuMi cobot for a small project.
i'm trying to create a function where the actual position of the cobot is stored in a robtarget.
to use the robtargets later to create a path. Only when i use my created function it gives an error that i that it's an dummy positions. because it is empty
but when i use the function directly it works fine.
see code below:
Proc Main()
SetLeadthrough \on;
TPReadFK reg1,"Press Apply to apply the coördinates", "Apply", stEmpty, stEmpty,stEmpty, stEmpty;
if reg1 = 1 THEN
TPErase;
Pos1:= CRobT(\Tool:=Servo \wObj:= wobj0);
Setleadthrough \off;
reg1:=0;
TPWrite "coördinates applied";
ENDIF
MoveJ HomePos, v200,fine,Servo;
MoveJ Pos1, v200,fine,Servo;
ENDPROC
in this case it works fine but when i use in the as below it doesn't work
PROC Main()
TeachPos(Pos1);
MoveJ HomePos, v200,fine,Servo;
MoveJ Pos1, v200,fine,Servo;
PROC TeachPos(robtarget pos)
SetLeadthrough \on;
TPReadFK reg1,"Press Apply to apply the coördinates", "Apply", stEmpty, stEmpty,stEmpty, stEmpty;
if reg1 = 1 THEN
TPErase;
pos:= CRobT(\Tool:=Servo \wObj:= wobj0);
Setleadthrough \off;
reg1:=0;
TPWrite "coördinates applied";
ENDIF
ENDPROC
ENDPROC
Does some one know what i do wrong ? or what the problem is ?