i am trying to set up a home program so if the robot is stopped somewhere in its program (crash, power outage, estop,...) anything that may cause it to stop, run this program and it will go to its home position. this is easy for most of the robots workspace but it enters a clampframe to set a HIC part at the end of its cycle. i need to check my z coordinate to make sure im above a certain position and if not move above it then check my y coordinate and if its in the clampframe back out to a safe positions. from there the rest of the program can get it home. ive looked into a few options (Cpos, searchL, CrobT) and i think CrobT is my best option, it records the current position to a point then i can examine that for my y and z values. thats what i need help with, how do i extract the y and z values from that point and then use them for conditions to move to a safe position?
or is there a better way to do this?