Get robot position while moving

Luks

Is there any way to get the robot position while it is moving? I'm programming a path with a start point and a final point but i need to get a position feedback for the whole path.

Thanks for your help!

zuldgreat

You can use multi tasking option. Use your second task to monitor TCP position using CRobT.

AlanAutoTech

Can it be Done similiar to the following Code?

 IF not bShutDown and bIsSettled THEN
    ;Monitor the current position and calculate radius and angle for
   CONTINUE
  pStartPoint=$POS_ACT
   ;Define Zero
  pZeroPoint={X 0,Y 0,Z 0,A 0,B 0,C 0,S 0,T 0}
   ;equalize the Z component
  pZeroPoint.Z=pStartPoint.Z
   ;Now calculate the starting radius
    nStartRadius=distance(pStartPoint,pZeroPoint)
    nX=pStartPoint.X
    nY=pStartPoint.Y
   ;Calculate the angle
  nHypot=SQRT((nX*nX)+(nY*nY))
   IF (nHypot<>0) THEN
  nTemp=(nX/nHypot)
   ELSE
  nTemp=1
   ENDIF
  nAngle1=ACOS(nTemp)
   IF (nY<0) THEN
  nAngle1=-nAngle1
   ENDIF
    ;Get current Robot Joint Data
 CONTINUE
    CurrJointData=$AXIS_ACT
    ;Check Minimum Values of All Joints
    ;Check J1 Position MIN
  IF nCurrJointMin[1] > CurrJointData.A1 THEN
   nCurrJointMin[1]=nCurrJointMin[1]
  ELSE
   nCurrJointMin[1]=CurrJointData.A1
  ENDIF
    ;Check J1 Position MAX  
  IF nCurrJointMax[1] > CurrJointData.A1 THEN
   nCurrJointMax[1]=nCurrJointMax[1]
  ELSE
   nCurrJointMax[1]=CurrJointData.A1
  ENDIF
    ;Check J2 Position MIN
  IF nCurrJointMin[2] > CurrJointData.A2 THEN
   nCurrJointMin[2]=nCurrJointMin[2]
  ELSE
   nCurrJointMin[2]=CurrJointData.A2
  ENDIF
    ;Check J2 Position MAX  
  IF nCurrJointMax[2] > CurrJointData.A2 THEN
   nCurrJointMax[2]=nCurrJointMax[1]
  ELSE
   nCurrJointMax[2]=CurrJointData.A2
  ENDIF
    ;Check J3 Position MIN  
  IF nCurrJointMin[3] > CurrJointData.A3 THEN
   nCurrJointMin[3]=nCurrJointMin[3]
  ELSE
   nCurrJointMin[3]=CurrJointData.A3
  ENDIF
    ;Check J3 Position MAX 
  IF nCurrJointMax[3] > CurrJointData.A3 THEN
   nCurrJointMax[3]=nCurrJointMax[3]
  ELSE
   nCurrJointMax[3]=CurrJointData.A3
  ENDIF
    ;Check J4 Position MIN   
  IF nCurrJointMin[4] > CurrJointData.A4 THEN
   nCurrJointMin[4]=nCurrJointMin[4]
  ELSE
   nCurrJointMin[4]=CurrJointData.A4
  ENDIF
    ;Check J4 Position MAX   
  IF nCurrJointMax[4] > CurrJointData.A4 THEN
   nCurrJointMax[4]=nCurrJointMax[4]
  ELSE
   nCurrJointMin[4]=CurrJointData.A4
  ENDIF
    ;Check J5 Position MIN   
  IF nCurrJointMin[5] > CurrJointData.A5 THEN
   nCurrJointMin[5]=nCurrJointMin[5]
  ELSE
   nCurrJointMin[5]=CurrJointData.A5
  ENDIF
    ;Check J5 Position MAX   
  IF nCurrJointMax[5] > CurrJointData.A5 THEN
   nCurrJointMax[5]=nCurrJointMax[5]
  ELSE
   nCurrJointMax[5]=CurrJointData.A5
  ENDIF
    ;Check J6 Position MIN   
  IF nCurrJointMin[6] > CurrJointData.A6 THEN
   nCurrJointMin[6]=nCurrJointMin[6]
  ELSE
   nCurrJointMin[6]=CurrJointData.A6
  ENDIF
    ;Check J6 Position MAX   
  IF nCurrJointMax[6] > CurrJointData.A6 THEN
   nCurrJointMax[6]=nCurrJointMax[6]
  ELSE
   nCurrJointMin[6]=CurrJointData.A6
  ENDIF  
   ENDIF
  RETURN