How to get Commanded and Actual Joint Positions?
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aamir7hayat -
June 22, 2015 at 10:57 PM -
Thread is marked as Resolved.
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check manual called "system variables"
type in variable monitor one of following and see what they do:$axis_act
$axis_for
$axis_back$pos_act
$pos_for
$pos_back -
For the motion planning, there's;
$AXIS_BACK - Start position for current motion
$AXIS_ACT - Current interpolated position
$AXIS_FOR - Stop position for current motionFor the servo control there's;
$AXIS_ACT (Again) - Set position
$AXIS_ACT_MEAS - Actual position as measured by resolvers. -
$AXIS_???? are axis specific positions
$POS_???? are Cartesian positions