Get LPOS in Monitor program

    Hello everybody,


    I am new in the world of fanuc robots, and I am having a doubt if it is possible (without Karel) to obtain from a program launched from a monitor the current position of the robot.


    More or less the situation would be this:


    Main program:

    ....

    MONITOR GETPOSTMONITOR

    L P[5] 100mm/sec FINE

    MONITOR END GETPOSTMONITOR

    ...


    GETPOSTMONITOR program:


    WHEN DI[7]= ON CALL GETLPOS



    Program GETLPOS:

    PR[5]=LPOS


    The problem I have is that the GETLPOS program has the same group as the main one, so it doesn't let me do it.

    The controller is a R30iB.



    Thanks in advance.

    Yes, that is the problem HawkME.


    What I'm trying to do is to measure a chassis with a laser. It is measuring the frame with a linear movement. When the laser measures a distance less than a value, the PLC sends me a digital input = 1, which implies that the edge of the chassis has been detected, I want to store the value of the position at that moment, and without stopping the movement of the robot, continue until the digital input = 0, to store this second position. By means of a subtraction of both positions, to know the distance of that chassis.


    I have tried skip condition, but when the edge of the chassis is detected, the robot stops abruptly.

    Quote from HawkME

    You can monitor the position via system variables in BG logic.


    Sorry for late answer.


    I have done what you have told me and now I have the position in three registers (I don't need the rotation). The only thing I can see now is how to convert those world coordinates into user coordinates, but if I look for the displacement with respect to the edge of the chassis I have the information I need.


    And it's all done without the robot stopping.


    Thank you very much for your great contribution HawkME.

    Quote from SkyeFire

    As such, the Motion Group setting should be all *. The usual default for a robot with one motion group is 1,*,*,*,* so you need to change this in the Details menu for that program.

    The problem I had with it, is that if I set it all to * I couldn't use LPOS.


    Anyway thanks for your answer.

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