Position Monitoring Using User Frame

In the position monitoring screen you can switch between joint, world and uframe.

Or what do you mean by

Quote from amin12

.. position monitoring of the robot..

Coordinates in user frames also are cartesian coordinates.

In the position monitoring screen you can switch between joint, world and uframe.

Or what do you mean by

Quote from amin12

.. position monitoring of the robot..

Coordinates in user frames also are cartesian coordinates.

Hi amin12,

that's not an easy one liner ..

Do you really need it? In Background? For PLC?

Is it an option to use LPOS at some point in your code?

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In TP there is no RELATIVE POSITION OPERATOR( : )

So you might have to use/program a karel programm running in Background..

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if you want to send current coordinates to plc you must do it with a bg logic task and read them from the system variables, you cannot use lpos or jpos inside any routine other than the main task because it locks the group.

System variable that is accesible only outputs the world coordinates in automatic mode, not the coordinates from the current active frame. But there are ways to do a base conversion of points in real time, you need to read that system variables on another task, convert them to the frame you are using and send it back. I use this when working with vision equipment since it always sends the destiny coords on world frame, I convert that coords to the work area frame and then use that converted points in program in irder to get all data on the sane frame and also check limits before going to pick a piece.

First of all, tell us what really you need, if you want to send the current position on a determinate frame to the plc I can provide you a way to do that but you must have the karel option on the robot first.

You can set up a macro with no motion group that stores the LPOS to a PR, then fire that macro with a flag from BG logic. Then send the PR to your PLC.

As TitusLepic wrote,

but this is only possible on newer software versions:

MENU-NEXT-SYSTEM_CONFIG

NO Motion PR Operate Mode --> TRUE

Quote from PnsStarter

As TitusLepic wrote,

but this is only possible on newer software versions:

MENU-NEXT-SYSTEM_CONFIG

NO Motion PR Operate Mode --> TRUE

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I was going to say to TitusLepic that making a macro won't work... since I tried everything and the only way I found to do this and also edit PR was to do it on a bglogic task...

But good to know this can be done with newer softwares, debugging a bg task is a nightmare and if this is possible I may update the code I use to run it with a RUN statement since you can open the run tasks and see the pointer.

You can get the position of the active user frame in the $SV_INFO[1].$CART_POS_UF system variable structure. I think this was only added in late v8 or v9 though.