Hello,
Does anyone know the settings (what do means the integer) for instruction HANDPOS for an S3 controller which is found in the *.crd file? This is an integer between -128 to 127 at the end of a coordinate. I need to know the configuration it means to reach the point.
Thank you for your attention.
I think this should be moved to ABB and not Motoman
Hi
According to the S3 M93 programmingmanual:
There is an implicit argument to the POS-instruction, HANDPOS, which stores information
of the configuration of the robot arm as it was when the POS-instruction was programmed.
This information is used when running the robot in Robot Coordinates or Modrect
Coordinates to ensure a specific configuration (see chapter 3.4) of the arm. When running in
rectangular coordinates the robot will choose the configuration corresponding to the
smallest movement from start to end position.
