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Below is the code using both methods for adding parameters to the location You need to check that op is not null, you can do it in the method or before you call it // if such a parameter doesn't exist, we have to create it

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// another way to set approximation parameter for a fanuc controller is to use the term type, which is the name of the column in the path editor. And when you cast it to txweldoperation you get a null object reference exception Either you jump the robot to joint values that correspond to the config you want, and then call teachcurrentrobotconfiguration

Or you built a full txrobotconfigurationdata object and assign it to the txlocation

Of course the motionparameters.e file should accordingly be populated with relevant configuration and turn flags. I am writting an application that reads an excel file and adds olp commands based on those values Currently i managed to get the commands in all of the weld locations within an operation, but i actually need to add it to locations before and after the welds. I would like to rotate a vialocation around their own axises x, y, z

The start rotation and start position of the vialocation can be different each time If i want to do the rotation one axis is fixed, for example i want to rotate around the x axis Or around the y axis or around the z axis I tried to implement this function by using txvector.

Dear, i want to make a clean function to send the actual position of the robot to the plc

I want to do this via group outputs. I'm searching to get in real time, the x,y,z position of the robot on my hmi According to implant these data on my hmi in need them to be on an output and not just as global variable That's why i'm searching to assign an output taking the value of $pos_act in real time.

Zusätzlich werden auch weitere funktionen unterstützt, die in der spezifikation als „optionale funktion“ ausgewiesen sind. Use itxweldoperation instead of txweldoperation in your method's signature