I have a set of positions saved in a TPE program, of which I need to be able to choose which position the robot is at. Comparing the current position with each of these and to check if one is within limits works fine, as long as I'm using FINE motion instructions. I need to be able to use CNT values as well; which would trigger the comparison before the robot has actually reached its target position.
How can I obtain the robot's destination position including its orientation? I have found the system variables $SCR_GRP[1].$DST_POS_X/Y/Z, but I'm missing variables for the WPR values. As long as my reference positions are spaced apart far enough it should be fine. But I'd rather not take any unnecessary risks, because why wouldn't this information be available..
