In MA1900 DX-100 Controller teach pendent, there is a facility to see robot current position under Robot Menu->Current Position.
which Change as robot Move...
so How to Move / Shift Robot current Position pulse data into Position variable.
i want to access that data in my program.
Robot -> Current Position (Pulse)
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Divyesh Parmar -
January 18, 2013 at 7:47 AM -
Thread is marked as Resolved.
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seek the GETS command
GETS PX000 $PX000
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thanx u very much....
but
px000 is already used in "commarc job file" send by Motoman bydefault as follow instruction:-GETS PX050 $PX013
CNVRT PX000 PX050 BFso i am confused to used it again.. it might be conflict the above....
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Normally, PX000 is variable, specially with the command GETS
On the Motoman program. also it is a var, because it is the value of the robot at $P013
IF you have any doubts, display the value of P000, write down and run what Potis told you, then run the Motoman program
You will see that P000 gets overwritten every time -
GETS PX050 $PX013
CNVRT PX000 PX050 BFGETS PX050 $PX013 This is getting the position that was taught is REFP3. The position is reference point 3 will be moved to P050.
CNVRT PX000 PX050 BF This will take the position in P050 (which is in pulse) and convert it to XYZ referencing the base frame of the robot and store it in P000.