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Abb YuMi Cobot CRobT in a proc problems

  • racido123
  • November 23, 2017 at 11:46 AM
  • Thread is Resolved
  • racido123
    Trophies
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    Posts
    8
    • November 23, 2017 at 11:46 AM
    • #1

    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 ?

    Edited once, last by racido123 (November 23, 2017 at 12:17 PM).

  • racido123
    Trophies
    3
    Posts
    8
    • November 23, 2017 at 2:32 PM
    • #2

    i already found the problem.

    It needed to be a FUNC instead of a PROC because you need a RETURN
    :uglyhammer2:
    :wallbash:

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