# Pose file and accuracy problem

• Hi everyone.

I have a problem when reading value from pose file. I use POS2POS and OPEPOS to read coordinate value from Pose file and write to V! register.

For example, z value of P111 is 54.232:

1. When I modify z: 54.232 --> 54. 236 or 54.241 or any value between 54.23 and 54.25, the displayed value will always be rounded to 54.23 or 54.25, never 54.24. Even when I enter exactly 54.24, the displayed value will also be 54.23 or 54.25

2. When I modify z: 54.232 ->54.216, the displayed value is rounded to 54.22. But when I use OPEPOS to write to V1! register, the V1! value will never be 54.216, it will be some values like 54.214xxx 54.217xx,...

• Are you able to share the code you have written for this

Of course, here is my code:

4 POSE2POS 0,P111,End_Pos[1],1,1

5 POSE2POS 0,P121,End_Pos[2],1,2

6 POSE2POS 0,P211,End_Pos[3],1,1

7 POSE2POS 0,P221,End_Pos[4],1,2

8 POSE2POS 0,P311,End_Pos[5],1,3

9 REM "**********************************************"

10 REM "Variable Change(Pos -> Real)"

11 V1% = 1

12 WHILE V1%<=5

13 OPEPOS 0,End_Pos[V1%],End_Pos_Real_TEMP[V1%,1],0,0

14 REM "----------------------------------------------"

15 REM "X,Y,Z,r,p,y,c -> X,Y,Z,Rx,Ry,Rz"

16 End_Pos_Real[V1%,1] = End_Pos_Real_TEMP[V1%,1]

17 End_Pos_Real[V1%,2] = End_Pos_Real_TEMP[V1%,2]

18 End_Pos_Real[V1%,3] = End_Pos_Real_TEMP[V1%,3]

19 End_Pos_Real[V1%,4] = End_Pos_Real_TEMP[V1%,6]

20 End_Pos_Real[V1%,5] = End_Pos_Real_TEMP[V1%,5]

21 End_Pos_Real[V1%,6] = End_Pos_Real_TEMP[V1%,4]

22 REM "----------------------------------------------"

23 V1% = V1%+1

24 ENDW

• Quote

1. When I modify z: 54.232 --> 54. 236 or 54.241 or any value between 54.23 and 54.25, the displayed value will always be rounded to 54.23 or 54.25, never 54.24. Even when I enter exactly 54.24, the displayed value will also be 54.23 or 54.25

Where in the above code you have given are you modifying the Z

• Where in the above code you have given are you modifying the Z

I modify directly in Pose file screen, then I execute program again and monitor Variable screen

• I reckon they are accurate only to 2 decimal places. When I modify the Z value in the pose file screen to 54.241, the corresponding variable screen is 54.2435 after executing the program.

• Yes I think the reason is accuray of NACHI robot. Do you know any document that mentions about accuracy of NACHi robot?