Hey, I'm an engineering student currently working on a program for path planning with an AR4 robotic arm for pick and place tasks.
I'm wondering if it's possible to use variables that are set at the beginning of the program and can be reused throughout the code.
The goal is to enhance the program's flexibility by having all adjustable values at the setup phase, rather than scattering them throughout the program, making modifications easier.
Any insights or advice would be greatly appreciated!
Hi Timo, not sure how flexible your requirement has to be.... may be an idea (i know it has it's limitations-)):
On your main program start you call, e.g. Call Program – set_position_registers.ar4, where you can set the use case specific register and positions registers - outside of your main program
In the main program you are using e.g. OFF J, OFF PR commands, which allows you to work "relative" to the initializing vectors (from set_position_registers.ar4)
And this could be an idea of placing a pick and place order through a separate file (OrderEntry) while the main program (OrderMain) just loops and keeps untouched. And the order processing could be in (OrderProcess) - just tested on my machine/robot so overall it might work but not knowing if this is what you are searching -)
