I am trying to create a home routine that is the robot is in a world zone and axis 6 is rotated one way go to this point if 6 is rotated the other way go to another point. I am having trouble understanding how to compare the current pos and checking to see if axis 6 is rotated a certain way. Any examples would be greatly appreciated.
Home Routine
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billyeck -
August 9, 2013 at 2:03 PM -
Thread is marked as Resolved.
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there is a special commands to understand what is the current location in Rapid
"CPos" Read the current position (only x, y, z of the robot)
"CRobT" Read the current position (the complete robtarget); with quaternion values and configuration informations
"CJointT" Read the current joint angles. like first axis is 42 degreeexample :
VAR pos position1;
position1 := CPos(\Tool:=tool1 \WObj:=wobj0);now position1 has current position depends on tool1 and wobj0