Read Joint Values

[zanealtenkirch]

Hello All

Does anybody know how to read the value of joint seven into a variable and use it in a if statement to check if it is larger than a certain value.

I want to write an asynchronous program that will control stop the robot if the stop button is press on the gate, but it must first check to see that the seventh axis (gun) is not closed or of a value less than 10mm.

Any help or ideas will be greatly appreciated

Thanks

Zane

[zanealtenkirch]

Just out of interest this is how I managed to do it.

.PROGRAM AUTOSTART2.PC   

WHILE(TRUE) DO

  IF(SIG(i_stop)==ON) THEN               ; Check if stop request from PLC

   HERE #rob_pos                 ; Get robot joint values
   DECOMPOSE J_val[1]= #rob_pos   ; Load Array

    If J_val[7] > 5 THEN              ; Check gun value greater than 5mm
           PULSE (o_stop*s_on),1                 ; Send stop bit to PLC
    END

  END
 END
.END