I can't find variables with current positions for each joint in both cartesian and joint representation ...
Does anyone know?
I can't find variables with current positions for each joint in both cartesian and joint representation ...
Does anyone know?
Always specify the controller model.
And did you try to read the manual?
and what about using the SEARCH button
Hint Search for pulse on the Fanuc forum only
Controller is R-30iB. There is nothing the manuals I have.
I search the Fanuc forum but not for "pulse" Why would i search for "pulse"?
current software reference manual
page 2-792
name: Current position from machine pulse
$SCR_GRP[1].$m_pos_enb must be true
then
$scr_grp[1].$mch_ang[]
and $scr_grp[1].$mch_pos
but why not just run a lpos or jpos command
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current software reference manual
page 2-792
name: Current position from machine pulse
$SCR_GRP[1].$m_pos_enb must be true
then
$scr_grp[1].$mch_ang[]
and $scr_grp[1].$mch_posbut why not just run a lpos or jpos command
Be careful with the mch_pos var. It doesn't update when the robot is jogged. It only updates when a motion command is executed. If you are using it for a auto homing routine, you could fire an incremental move with all zeros in it at the beginning of the program to get the variable to update, but if you are going to do that, a LPOS would be much better.
Oddly enough, mch_ang updates when you jog the robot.
Thanks dmbj.
I actually need only J6 position. I'm showing it on TP on a webpage ...
just for the sake of the topic (maybe it's of no interest):
using LPos or Jpos or using CurPos(0,0) in Karel is not very accurate if the robot is moving.
The variables will give you the Calculated position and not the actual position. Not that it means a lot in this connection, but in other situations it will give you a difference of up to 1 mm or even more. Running a welding program where you are Weaving will show you a big difference between the calculated and the actual position. There's a more accurate way to get the actual position.
/Flemming
I'm sorry to reply to an old thread, but Inrotech said:
QuoteThere's a more accurate way to get the actual position.
I was wondering if anyone knew this more accurate way?
Not sure what your ultimate goal is....
If you are only trying to display position on a TP webpage, you can use the Label Control with Data Type 107- Current Position. Maybe you're doing this already. Joint representation is default but world and user are available. I am not sure if you can only display joint 6 or if you are required to display all nor am I sure of the accuracy of this method.