DX-2000 Convert from Cart. to Pulse Coord

Hi,

We have a vision process integrated with a Motoman DX200 controller that is filling a position variable with position data in Cartesian robot coordinates in a specific tool frame. We need to convert this position variable back to pulse coordinates to do some error checking to eliminate the some pulse limit alarms from occuring.

The CNVRT instruction does not allow going back to pulse. Is there any other method to perform this conversion rather than using some complicated kinematics?

Thanks for your help