Posts by zim

The jump trick definitely works, thanks for that, and it looks like I'll probably go with that as its a lot cleaner than the switchcase I was using before, or worse, the separate job files that came before me; I just wish there was a way around having unused lines of code in the job file. When you've got 9 pairs of nearly identical movements to choose from, it seems like overkill to have to initialize each one every time just in case its used.

Yes, as far as I can tell. I give it ///NPOS 0,0,0,22,0,0 and it rewrites it to ///NPOS 0,0,0,4,0,0 and drops all unspecified p-vars. I haven't had any luck finding documentation on header configuration though, so that was a line I had to stumble my way on to figuring out.

I'm new to robotics programming and I'm currently fighting with an fs100 to let me program a job the way I want it to.

I've got a job that sets an i-var before calling a second job, and that second job reads the i-var and moves to the corresponding p-var from the stack of p-vars I stuffed into the header...except that when I load the second job file into motosim it drops all p-vars from the header that I haven't specifically called in that job (P010 stays because I use MOVJ P010 VJ=20.00, but P003 seems to disappear because I only ever call MOVJ P[I000] VJ=20.00 that might equal P003). Is there a way around this or am I fighting a losing battle for the sake of a cleaner job file by not using a giant switchcase for a single move command?

SET I000 3
CALL JOB:SUB

MOVJ P010 VJ=20.00
MOVJ P[I000] VJ=20.00