I am using the $ SCR_GRP [ 1 ] . $ MCH_POS_(X/Y/Z/W/P/R) to tell my PLC the robot positions in the world.
However, these numbers don’t update while you’re jogging, and won’t update until the robot starts a move in a program. One little trick is to do a move to the current position at the start of your program:
J PR[100:SCRATCH] 10% FINE
There is another variable that give me directly the value ?
I am using r2000ib - 125 l robot and r30 ia controller.
I don't have $DIAG_GRP in system variables.