You are right, can you recommend how I can read the actual robot position? I have a program where I read state of robot motor, program error etc. but what is the best way to log actual position XYZOAT ?
Profinet
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Jay C -
February 20, 2018 at 6:59 PM -
Thread is marked as Resolved.
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do you want to display the actual values from the robot on the Interface panel? If yes, you can use the a string variable and use ENCODE + DX function to display the X value for example. For the O,A,T you can use DEXT function. The string can be displayed with the IFPWPRINT function.
$variable = "Position:"
$variable = $variable + " X="+$ENCODE(/I5,DX(HERE))
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I want to use position parameters in TIA program to check if robot is in the correct position. I use I/O tags as communication.
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you can define workspace for the robot and use Inputs...
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You want that the PLC checks the actual location against the last known location and either faults, prompts if the robot can move to home position or execute the last assigned recovery routine ??
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