Denso RC5 Specifikace stáhnout pdf (Strana 301)

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101

Chapter 12 Robot Control Statements

12-25

CURPOS (System Variable)[Conforms to SLIM]

Function

Obtains the current position in the tool coordinate system using type P.

Format

{CURPOS|*}

Explanation

The current positions detected by each axis encoder in the tool coordinate

system are stored using type P data.

If the robot is in operation the values are obtained when this instruction is

executed.

If the destination pose is obtained use DESTPOS.

Related Terms

DESTPOS, CURJNT, CURTRN

Example

DEFPOS lp1, lp2

lp1 = CURPOS 'Assign the current position in the tool

'coordinate system to lp1

lp2 = * 'Assign the current position in the tool

'coordinate system to lp2

6-axis lp1 = CURPOS + (100, 200, 0, 10, 10, 0)

'Assign the current position + (100, 200, 0, 10,

'10, 0) in the tool coordinate system to lp1

4-axis lp1 = CURPOS + (100, 200, 0, 10)

'Assign the current position + (100, 200, 0, 10)

'in the tool coordinate system to lp1

Notes

During operation with the machine lock function, the joint angles detected by

the encoder of each axis are not stored but virtual joint angles (instruction

angles) are stored.

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