don't do that... any time you modify reference data, you are shooting yourself into a foot.
let the reference data stay as is, create a temporary data and put the manipulated value into temporary data. then you do not have to worry if program was cancelled or robot was powered down at some critical moment.
DECL E6POS tmp
;...
tmp=xP1_Alto
tmp.x = XP1_Alto.X + (Part_Lengh/2)
;...that depends on needed scope.
There's multiple ways to handle this. Which method to use depends on your specific needs.
Panic's example makes a copy of XP1, and manipulates the copy. This way, XP1 does not get altered by the program in a way that could have negative side effects if the program were halted or restarted at the wrong moment.
Another way would be to use offsets during execution. This is often used for Pick/Drop applications:
; Approach Drop
PTP {X 0,Y 0,Z 100,A 0,B 0,C 0} : XDrop
; Drop
LIN XDrop
; Depart Drop
LIN {X 0,Y 0,Z 200,A 0,B 0,C 0} : XDropIn this simplistic example, only one point (XDrop) needs to be taught, and if/when it is altered, the Approach and Depart moves follow that change. This can be more convenient than teaching separate Approach, Drop, and Depart points.
yes, there are multiple approaches. each with own set of +/-
for example, when using offset like that, one cannot test different offset values without cancelling and adapting program. if testing and adjustments are needed, it is better to declare offset also as a variable and initialize it before use, then one can make value offset adjustments in same session (using variable monitor etc.), then change initialization only once.
DECL FRAME Approach,Depart
Approach = {X 0, Y 0, Z 100, A 0, B 0, C 0}
Depart = {X 0, Y 0, Z 200, A 0, B 0, C 0}
PTP Approach:xDrop
LIN xDrop ; this can also be an inline form
OpenGripper()
LIN Depart:xDropAnd whats the value of Largura_Peca?
Also: is the Inline forme actually using tmp_Alto? If points are created by means of inline forms they usually start with an X in front of the point name. For example
SLIN P1 Vel=2 m/s CPDAT12 Tool[1]:GARRA1 Base[1]:Bancada
used the point XP1 declared inside the dat-File. What does your code look like when you expand the inline form? Whats defined in your dat-File?
Fubini
HOW DO I MOVE TO THOSE POINTS? (DECL in src and not data.
Which points? The points with "tmp" in the name?
That code looks valid, minus the typing errors. What happens when you run that code? What is the value of Largura_Peca when you execute that code? Using XP1_Alto.X + (Largura_Peca-79)/2, if Largura_Peca is 0, you're going to be off by 39.5mm from the taught location of XP1_Alto.
Protip: post actual program code, not hand-typed copies. Using Code Frames also helps keep posts readable.
(Largura_Peca-79)/2
Worth mentioning. Dividing by 2 will round off the answer, dividing by 2.0 will give you a decimal result.
yup... but only if Largura_Peca is declared as integer
if it is REAL, division will be same regardless if dividing by 2 or 2.0
