Chapter 12 Robot Control Statements
12-29
DESTPOS (System Variable)
Function
Obtains the current movement instruction destination position with type P.
When the robot stops, the current value (instruction value) is obtained.
Format
DESTPOS
Explanation
The destination position of the previous movement instruction is stored with a
format of a type P data. Because the data can be obtained with a system
variable, it does not require to transfer the data to another program with
variables such as local variables or global variables.
Use CURPOS to obtain positions detected with each axis encoder.
Related Terms
CURPOS, DESTJNT, DESTTRN
Example
DEFPOS lp1, lp2
MOVE P, @P lp1, NEXT
6-axis lp2 = DESTPOS+(100, 10, 10, 0, 0, 0) 'In this case, DESTPOS = lp1.
4-axis lp2 = DESTPOS+(100, 10, 10, 0) 'In this case, DESTPOS = lp1.
Notes
A stop position is fetched when the movement stops after the movement stop
instruction (refer to Part 2 “5.3.3 INTERRUPT ON/OFF”) is entered .
(Example)
INTERRUPT ON
MOVE P, P1 ←An interrupt signal turns ON during movement.
INTERRUPT OFF
P2=DESTPOS
P1=P2 is not satisfied. P2 is a stop position.
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