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
Current Position Related to UFrame
- moelsayed
- Thread is Unresolved
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To get where?
On the pendant, visually?
In TP program? Karel program?
Host PLC?
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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.
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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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