Hello,
I am looking for system variable to allow me reading the current position for the TCP related to the specific UFRAME & TFRAME.
Thanks,
Moelsayed
Hello,
I am looking for system variable to allow me reading the current position for the TCP related to the specific UFRAME & TFRAME.
Thanks,
Moelsayed
Please I am really need to know if we have any way to get the current active user frame and active tool frame and current robot position related to active user frame and tool frame
Thanks
To get where?
On the pendant, visually?
In TP program? Karel program?
Host PLC?
My mistake to get it in Karel program.
I am sorry for confusion
There is this thread from a while ago where I go over something similar, in karel.
Active tool and frame for group 1 are stored in $MNUTOOLNUM[1] and $MNUFRAMENUM[1] respectively.
There also $SCR_GRP[1].$MCH_POS, which is the current position of the arm in world coordinates, but it doesn’t update when jogged.
Sergei Troizky over in this thread lists the system variables that update in real time, in reference to the active user frame. I believe you have to have a V9 controller for theses system vars though.
Thank you I'll check The thread which you mentioned
There also $SCR_GRP[1].$MCH_POS, which is the current position of the arm in world coordinates, but it doesn’t update when jogged.
It does update when jogging but first you need to set $SCR_GRP[1].$M_POS_ENB = TRUE and cycle power.
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