When tested in robostudio, CJointT function doesn't return any result...

Hello everyone,

I'm currently working on a cell containing two ABB robots and a IRBP positionner, using the multimove system, one of the robot is the master and the IRBP is connected on the same controller, the other robot have his own controller.

Since i have to control all the movements of the positionner, i have to check often on his current position then see what i have to do according to what the PLC is asking me, and then execute my MoveExtJ...

After searching on the ABB technical reference manual, i found the CJointT function, the positionner work with the external axes eax_d/eax_e/eax_f and doesn't have any TCP associated so i decided to use this function in my program.

Excerpt from my program:

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(Task: T_POS1)

MODULE MainModule_POS1

...

...

! Jointtarget de lecture position actuelle du positionneur

PERS jointtarget JntT_POS_IRBP:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,0,0,0]];

...

...

...

!

PROC main()

Initialisation;

Rapp_Mvts_Axes;

!

! Renvoi position actuelle à l'API

JntT_POS_IRBP := CJointT (\TaskRef:=T_POS1Id);

IF JntT_POS_IRBP.extax.eax_d=0 THEN

etc... ...

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Problem is, when i test it with robotstudio, the jointarget always give me the same result:

PERS jointtarget JntT_POS_IRBP:=[[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

I tried to change the argument "\TaskRef:=T_POS1Id" by the "Taskname" argument and tried with "JntT_POS_IRBP := CJointT ();" but the result is the same.

Does any of you have an idea of the actual problem? Is that a limitation of Robostudio? Did i declare something wrong? Is there something i ignore about how to use this function?

In advance, thank you very much!

Quote from Lemster68

Check the actual joint values, using the virtual TP, tell us what you see, values or not. What version of RS and Robotware are you using?

Hello Lemster and thank you, since i found the solution thanks to your reply!

Your reply made me remember that the positionner axis current value is only visible (on the virtual TP but also by any function) when said axis is activated!

So i created a little routine that activate every axes, respectively, than write their value on a permanent variable, to be able to keep them at every moment:

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! POSITIONS

! Robtarget de lecture position actuelle du positionneur

PERS jointtarget JntT_Ecriture:=[[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9],[9E+9,9E+9,9E+9,9E+9,-39.4161,9E+9]];

PERS jointtarget JntT_POS_IRBP:=[[0,0,0,0,0,0],[0,0,0,28.7315,89.3431,-39.4161]];

...

...

PROC Posi_courante_tab()

! Routine d'enregistrement position actuelle table

! Lecture axe INTERCHANGE

ActUnit INTERCH;

JntT_Ecriture := CJointT (\TaskRef:=T_POS1Id);

JntT_POS_IRBP.extax.eax_d := JntT_Ecriture.extax.eax_d;

DeactUnit INTERCH;

! Lecture axe STN1

ActUnit STN1;

JntT_Ecriture := CJointT (\TaskRef:=T_POS1Id);

JntT_POS_IRBP.extax.eax_e := JntT_Ecriture.extax.eax_e;

DeactUnit STN1;

! Lecture axe STN2

ActUnit STN2;

JntT_Ecriture := CJointT (\TaskRef:=T_POS1Id);

JntT_POS_IRBP.extax.eax_f := JntT_Ecriture.extax.eax_e;

DeactUnit STN2;

ENDPROC

...

...

Funnily, the value of the axis STN2 is writed on the eax_e element, normally it should be on eax_f... but i adapted the program accordingly and tried it after putting every axis in a position. As we can see, the jointtarget " JntT_POS_IRBP" now contain the current position of every three axis of my positionner and will keep it until the next time the routine will be read.

Thank you very much for your help Lemster68!

Changing "\Taskname: T_POS1" for "\Taskref: T_POS1id" doesn't seems to change the final result when i try it with the actual program.