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,...

Please help me figure this out. Thank you very much.

Quote from bsrr

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 from bsrr

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

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