User Frame Z Value into Register
Unfortunately, I was told it's not possible, and I haven't found a way since.
PR[1] = UFRAME[1] will work
When you look at the data in PR1 press the page button to Lx value.
PR[1] = UFRAME[1]
R[1] = PR[1,10]
You can also set $PR_CARTREP to TRUE and use this code:
PR[1]=UFRAME[1] ;
R[1]=PR[1,1] ;I'm assuming when the OP said "background program" they meant BG Logic.
You Can not put "PR[1] = UFRAME[1]" into a BG Logic Program, as far as I know.
With v9 robot software, and assuming the subject frame is active, this should work in BG Logic:
R[x:Active UF X]=($SV_INFO[1].$CART_POS[1]-$SV_INFO[1].$CART_POS_UF[1])
Since the position reading in BG logic has certain lagging during the robot motion, the most precise result will be on non-moving robot.
With v9 robot software, and assuming the subject frame is active, this should work in BG Logic:
R[x:Active UF X]=($SV_INFO[1].$CART_POS[1]-$SV_INFO[1].$CART_POS_UF[1])
I think that one only works if the frame is oriented same as the World Frame.
I wonder, why this must be done in BG logic and not in called-on-demand subroutine.
