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Get Robot Pose Data Failed? TxUnknownErrorException

Valued Contributor
Valued Contributor

hi,

I try to get the joints value by TxPoseData.Joints,

 

TxPoseData poseData = new TxPoseData();
poseData = ITxRoboticOrderedCompoundOperation.Robot.GetPoseAtLocation(ITxRoboticLocationOperation);

 

 

but, the front four locations' joints can be got, the pick_21fx12_f52 cannot be got, and throw a TxUnknownErrorException,

that's why? I don't find the difference between those locations.

2018-04-19_143336.png

 

 

 

 

 

 

 

 

 

 

 

 

 

 

thanks

6 REPLIES

Re: Get Robot Pose Data Failed? TxUnknownErrorException

Valued Contributor
Valued Contributor
now I found that the failure occurs when the tool of the location Changed, or the tool of the location not same as the Robot Current tool,
but I still don't find the way that how to get the TxPoseData, anyone could have a suggestion?

P.S, my purpose is that to get the Joints value of each ITxRoboticLocationOperation.

Re: Get Robot Pose Data Failed? TxUnknownErrorException

Siemens Valued Contributor Siemens Valued Contributor
Siemens Valued Contributor

Hi Ernest,

 

Can you send me your code (you can send it in a private message) with the psz file.

I will debug and check what is the issue.

 

Best Regards,

AdiAvron

Re: Get Robot Pose Data Failed? TxUnknownErrorException

Valued Contributor
Valued Contributor
Hi Adi Avron,
I'm sorry for the delay in replying to you, we get the Joint value by calling the CCoJumpAssignedRobotCmd, nevertheless, it is not a perfect solution.
Thank you for your attention.

Re: Get Robot Pose Data Failed? TxUnknownErrorException

Siemens Genius Siemens Genius
Siemens Genius

Re: Get Robot Pose Data Failed? TxUnknownErrorException

Valued Contributor
Valued Contributor

Hi, @Hazan@AdiAvron

 

thanks for your answer. the below code is my flow.

 

 internal static TxPoseData GetPoseData(ITxRoboticLocationOperation TxRoboticLocationOp)
 {
     TxPoseData poseData = new TxPoseData();
     ITxRobot irobot = TxRoboticLocationOp.ParentRoboticOperation.Robot;
     if (!CanRobotReachLocation(irobot, TxRoboticLocationOp))
         return null;
     if (irobot.ExternalAxes.Count == 0)
         poseData = irobot.GetPoseAtLocation(TxRoboticLocationOp);
     //
     if (poseData.JointValues.Count == 0)
         if (JumpToLocation(TxRoboticLocationOp))
             poseData = (irobot as TxRobot)?.CurrentPose;
     return poseData;
 }

Re: Get Robot Pose Data Failed? TxUnknownErrorException

Siemens Genius Siemens Genius
Siemens Genius

Hi,

 

I recommend you to use my above code.

The reason is, GetPoseAtLocation ignores specific controller  information that you may put on the location.

In PS we have already switched to my above code, which takes in account ALL  location information.

 

Regards,

Moshe