Hello, i would like to know how to create a point with a declaration not Cartesian, but in joints? Is it possible?
Joint declaration, krc4
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gol.one -
July 19, 2021 at 11:29 AM -
Thread is Unresolved
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- Best Answer
DECL AXIS my_point
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you can see the same for home positions in KRC:\R1\System\$CONFIG.DAT
if your robot has external axes, you should use E6AXIS instead of AXIS
also if you want point to be retentive (survive reboot), you need to also initialize value...
for example
DECL E6AXIS my_point = { A1 0}
if you want to use that point inside inline form instructions, point name must have a prefix "x"
DECL E6AXIS Xmy_point = { A1 0}