RobotStudio event

Question about ReadMotor

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ColoradoPacific
ColoradoPacific ✭
in RAPID Programming
I am attempting to utilize the ReadMotor function to determine initial motion during my homing routine. However, the value I receive from the ReadMotor command doesn't seem to line up with the actual motor angle in degrees OR radians.

Attempting to read value of Axis1 on a single robot system with no external axes...
[code]MotorAngle_1 := ReadMotor(1);
MotorAngle_1 value is returning as -155.803, but the Axis 1 position is 90.0 degrees.

Can anyone tell me what I'm doing wrong

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  • Pavel Riabichev
    Pavel Riabichev admin
    Options
    Hello
    Use CJointT instead as below.

        PERS jointtarget joints;    PERS num joint3;

        joints:=CJointT();    joint3:=joints.robax.rax_3;

    /Pavel
  • ColoradoPacific
    ColoradoPacific ✭
    Options
    Pavel Riabichev said:
    Hello
    Use CJointT instead as below.

        PERS jointtarget joints;
        PERS num joint3;

        joints:=CJointT();
        joint3:=joints.robax.rax_3;

    /Pavel
    I will try this out tomorrow. Thank you!
  • ColoradoPacific
    ColoradoPacific ✭
    Options
    Pavel Riabichev, that worked perfectly! Thank you.

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