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I have a robotic welding system with two ABB IRB1600ID robots. I'm trying to setup tuning robtargets using HotEdit function in FlexPendant. Each weld has its points saved in an array of robtargets - similar to this:

PERS robtarget W26{7} := [
   [[901.47,246.13,488.04],[0.173963,-0.211681,-0.961732,0.000722468].[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
   [[901.47,323.87,479.16],[0.173963,-0.21168,-0.961732,0.00072254],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
   [[901.47,390.56,479.16],[0.173963,-0.21168,-0.961732,0.00072258],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
   [[901.47,450.15,479.16],[0.173963,-0.21168,-0.961732,0.000722628],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
   [[901.47,590.94,479.16],[0.173963,-0.21168,-0.961732,0.000722584],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
   [[901.47,678.42,479.16],[0.173963,-0.21168,-0.961732,0.000722581],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
   [[899.27,761.87,479.16],[0.173963,-0.211679,-0.961732,0.000722644],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]
];

After that I have a procedure similar to this (simplified):

PROC Weld_W26()
    ArcLStart W26{1}, vtoArc, sm01, wd26_1, fine, R1_tWeld\WObj:=wobj0;
    ArcL W26{2}, Vweld, sm01, wd26_1, z1, R1_tWeld\WObj:=wobj0;
    ArcL W26{3}, Vweld, sm01, wd26_1, z1, R1_tWeld\WObj:=wobj0;
    ArcL W26{4}, Vweld, sm01, wd26_1, z1, R1_tWeld\WObj:=wobj0;
    ArcL W26{5}, Vweld, sm01, wd26_1, z1, R1_tWeld\WObj:=wobj0;
    ArcL W26{6}, Vweld, sm01, wd26_1, z1, R1_tWeld\WObj:=wobj0;
    ArcLEnd W26{7}, Vweld, sm01, wd26_1, z10, R1_tWeld\WObj:=wobj0;
ENDPROC

According to manual (IRC 5 with FlexPendant), if a robtarget is declared as an array, it must be indexed with a number to be modified in HotEdit. What exactly does this line mean? Is my example done according to it?

When I open HotEdit on my FlexPendant, everything looks fine:HotEdit window

But when I apply some offsets, some strange things start to happen:

  • Applied offsets are not shown in "Selected targets" view, just "0,0" everywhere, although the changes ARE reflected in RAPID.
  • It becomes impossible to add more targets to "Selected targets" view by clicking arrow on the side (nothing happens). Only warm start solves this.
  • Most importantly: When I press Baseline->Restore selection (or Restore entire program), HotEdit somehow truncates my robtarget array into single point (for example into this: PERS robtarget W26{7} := [[901.47,246.13,485.04],[0.173963,-0.211681,-0.961732,0.000722468],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];) with syntax error on top.

All of things listed above happen only when using array of robtargets. When all the robtargets are in separate variables, everything works fine. I can't help but to think this must be some bug regarding arrays, but is there any way to work around it?

I almost forgot to mention: If I try to edit same position in manual mode using "Modify position" button, it works just fine. Therefore I think it has something to do with HotEdit functionality.

Thank you for help in advance.

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