I am trying to pull a coordinate value out of the robot when I finish a move to a given position and assign that value. I have my IO setup and working and am passing values to the PLC successfully, but I need help with workvisual code to grab that value before assigning it.
Say the robot is in some arbitrary frame that's taught (not world), and moves to a position using that frame reference; can I pull the equivalent world z value out of the robot? without changing frames and then back again before the next position move inside that frame? Thought of writing $POS_ACT to a temp variable and assigning the .Z component of that position variable but that would only give me the z value in that frame, not world.
I have thought of a few ways to get the same result but that would require hardcoding the frame's z offset relative to world in my calculation and is not ideal for future usage of this program.
Thanks for everyone's time. And if there was a better discussion page/category for this to be posted please let me know