After you use the GETPOS command to capture the command position of STEP #(1) into P000, use the CNVRT command
CNVRT PX000 PX000 RF
Just so are aware, you can convert into robot frame (RF), base frame (BF) or any user frames.
After you use the GETPOS command to capture the command position of STEP #(1) into P000, use the CNVRT command
CNVRT PX000 PX000 RF
Just so are aware, you can convert into robot frame (RF), base frame (BF) or any user frames.
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My question is how do you get the position to save as a Base, vs a Pulse. I would like to manipulate the X, Y, and Z planes.
I'm not sure that this the answer to your question but I try:
GETPOS PX000 $PX000; get the position of your robot in pulse and store in P000 VAR (be sure to not overwrite existing var data)
GETPOS PX000 $PX001; get the position of your robot cartesian(base) and store in P000 VAR (be sure to not overwrite existing var data)
Of course you can change the destination( GETS PX005 $PX001, for example).
This procedure is valid for a single controlled manipulator (R1), if you have more than 1 manipulator controlled or an external axes, the value of $PX000 and PX001 are different and need other variable to be saved. This because must be saved also the position configuration of the another manipulator or external axes.