i am trying to look into a structure that contains positional data that i pull out depending on what "carrier" is in front of the robot.
each Carrier has a max of 24 drop positions and a min of 1.
the goal is to only have 1 program and move in the positions required for that specific carrier at the robot.
however when i try to load positions that are not initialized, the program gives me the INTP-311 fault.
How can i check if the array element has data in it or not. and then skip over the loading line?
PROGRAM CarrierArray
%ALPHABETIZE
%CMOSVARS
%COMMENT ='CarrierPositions'
TYPE
Location = STRUCTURE
ClipNum : ARRAY[25] OF XYZWPR
ENDSTRUCTURE
VAR
CarrierNum : ARRAY[64] OF Location
RegNum, Status, CurrCarrier, PosRegUpdate, DropLocation, data_type, entry :INTEGER
Real_Val:REAL
str_value:STRING[10]
----------------------------------------------------------------------------------
ROUTINE CheckPosReg(ival:INTEGER):BOOLEAN
BEGIN
END CheckPosReg
-----------------------------------------------------------
ROUTINE clearPosReg
VAR
PreRegNum, PosRegNum:INTEGER
BEGIN
WRITE(CHR(137),CHR(128));
DELAY 1000
WRITE(' Clearing All Drop Position Registers' ,CR)
FOR RegNum = 100 TO 125 DO
PreRegNum = RegNum +100
PosRegNum = PreRegNum +200
CLR_POS_REG(regNum,0,status)
CLR_POS_REG(PreRegNum,0,status)
CLR_POS_REG(PosRegNum,0,status)
ENDFOR
WRITE(' All Drop Position Registers Cleared' ,CR)
WRITE(' Ready For Carrier Data' ,CR)
END clearPosReg
----------------------------------------------------------
BEGIN
-- Clear all previous position registers
clearposReg
--WAIT FOR CurrCarrier = 100
GET_TPE_PRM(1,1,CurrCarrier,Real_Val,str_value,status)
FOR DropLocation =1 TO 25 DO
PosRegUpdate = DropLocation + 100
WRITE(' Transferring Data From Carrier:' ,CurrCarrier ,CR)
WRITE(' Position:' ,DropLocation,CR)
WRITE(' To PR: ',PosRegUpdate ,CR)
SET_POS_REG(PosRegUpdate,CarrierNum[CurrCarrier].ClipNum[DropLocation],Status) <-----------------------this line giving issues when "DropLocation" is not initialized
DELAY 1000
ENDFOR
END CarrierArray
