Points in axis or cartesian coordinate system

    Hello,
    I have some important points like Home1, Home2,Home3, PickPosition, DropPosition in axis coordinates. In those points the robot changes the path program and the tool. I have to check if the robot is in the right point before PLC ask for the path program.
    I have made a function to calculate the position using the axis coordinates.
    Delta.A1 = ABS(ePOS.A1 - $Axis_Act.A1)
    Delta.A2 = ABS(ePOS.A2 - $Axis_Act.A2) etc.
    Now the client want to have the points in cartesian coordonates and calculate like
    Delta.X = ABS(ePOS.X - $Pos_Act.X)
    Delta.Y = ABS(ePOS.Y - $Pos_Act.Y) etc.

    Can't this be a problem for the "safety" positions? Does someone have some arguments why the points Home are by default in axis coordinates?
    Thank you!

    Home positions are recorded in E6AXIS because there is no ambiguity. With a series of LIN motions in E6POS, it is possible to "wind up" the wrist, in such a way that running the program a second time would result in driving A4 or A6 past their maximum limit. Using an E6AXIS position explicitly returns each axis to a known angle, thus preventing this "wind up".

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