Is there, and if so what is the instruction to copy the current robot postion into a position variable, within a program on a ERC controller? We're looking for a way to calculate the starting point for a weld where there is variances in the material size.
ERC Current Position Within Program
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betabob -
October 7, 2013 at 7:25 PM -
Thread is marked as Resolved.
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On an MRC I would use
GETS PX127 $PX000
to capture current position in pulse ($PX000) into position variable P127.
If you wanted to convert P127 to XYZ, you would add underneath
CNVRT PX127 PX127 RF
to convert it to robot frame (XYZ).I don't have access to an ERC this week, but I think the same command exists on ERC. Robodoc or 95devils may be able to confirm..... please
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95devils may be able to confirm..... pleaseI thought I was your friend. And you owe me Skyline.
Yes, the same instructions are on ERC.
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Thanks for the reply. I'm going to have to clean my glasses and go back and look at the control again, but I haven't seen a GETS instruction on the menu tree. Got a GETE but didn't see a GETS. There's a POSOUT under the I/O branch, that I haven't determined what it does.
Any chance GETS was optional or parameter selectable?
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Oops, wrong controller.
Use the SET to fetch the current position into a Position Variable.
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Thank You. That works.
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Thanks for confirming and clarifying 95devils. And you are right, I still owe you Skyline