reseting robtarget

Hello,

You can use a routine:

PROC zero_robtarget(VAR robtarget p)

p.trans:=[0,0,0];

p.rot:=[1,0,0,0];

p.robconf:=[-1,0,0,0];

p.extax:=[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09];

ENDPROC

And you need use like this:

zero_robtarget(p10);

I suppose it is a VAR robtarget and that you will be modifying it for some reason. If so, just declare it VAR putpos; in the routine in which it is used. Then it will be reinitialized every time that the routine is called.

I don't know why you need that but... just create a constant with default value and assign your data to it. You can even can it nullframe if you want to have the same approach as kuka.

Kind of the long way round instead of declaring a global NULLFRAME:

CONST robtarget pNULLFRAME:=[[0,0,0],[1,0,0,0],[-1,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

and in your code just using:

PutPos:=NULLFRAME;

AIf you like the idea of using a function instead, then in your routine/function you don't need to separate out all your components of a robtarget (it's a robtarget after all) you can assign all at once just like you did in your initial post.

FUNC robtarget NULLFRAME(robtarget p)

p;=[[0,0,0],[1,0,0,0],[-1,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

RETURN p;

ENDFUNC

As I said before and @SAABoholic put together, the simpler way is to use a global constant.

If you want to go with function solution, you can make it even simpler. You don't need to pass parameters or temp values, just return it directly.

FUNC robtarget NULLFRAME()
  RETURN [[0,0,0],[1,0,0,0],[-1,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
ENDFUNC