Record External axis position as variable

    Robware 3.2 So I dont have SearchExtJ

    I want to record the curent pos of the robot external axis as a variable so i can set the ext axis offset as the difference between 2 points. (Imagine rotating a propeller blade and touch sensing the blades as they come aroundd)

    Can i use cjointT to record a extjoint variable or do i need to pluck it out of a jointtarget with some fancier syntax.

    I think it goes something like

    VAR jointpos_jointpos1 :=(...)

    VAR jointpos_jointpos2 :=(...)

    VAR jointpos_jointposdifference :=(...)

    Var robtarget_posrotateL

    Var robtarget_posrotateR

    VAR extjoint eax_a_extjointpos1:= [0, 0, 0, 0, 0, 0];

    MoleL* !move to start point
    Searchl (posrotateL,*...)

    Jointpos1:= Calcjointt(p1,...)

    Jointpos1.extax.eax_a := extjointpos1

    MoveL* !move back to start point

    Searchl (posrotateR,*...)

    Jointpos2:= Calcjointt(p1,...)

    Jointpos2.extax.eax_a := extjointpos2

    Jposdifference.extax.eax_a := Jointpos1.extax.eax_a + Jointpos2.extax.eax_a

    MoveAbsJ_jointposdifference
    EOffson*;

    HELP!

    (Im dumb)

    MW

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