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Get robot position while moving

Luks
Luks ✭
in Developer Tools
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!

Comments

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

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