Hello all.
I want to convert cartesian to joint, but not going to the cart pos.
Main program: the robot picks up a part (circle shape) which has a pocket on it (like a pothole) somewhere. The robot has a distance sensor mounted on it through the hole on J6 (so the sensor is always stationary to J6). Basically when the robot goes above the part picks it up and then I tell the robot to move on X- direction while moving J6 to close +limit. Then I tell the robot to continue to move towards X- but then I rotate in the opposite direction until the pocket on the part is "scanned" by the distance sensor.
In background logic I have 2 programs, where one program increments a register by 1 when the sensor gives ON signal feedback (this happens when the sensor is moving right above the hole), and another bg program where I save the machine position from variable SCR_GRP_T.
While moving i get a value when the sensor moved off the hole, and in that instant I save machine pos, so I know where is the hole on the part.
Now the problem is that I need to convert SCR_GRP_T cart to degrees so I can put down the part, without going to that position where bg logic saved the "found hole" position. (so i cant use [PR5]=Jpos, and also I cannot use this in bg)