12-34
POSCLR (Statement)
Function
Forcibly restores the current position of a joint to 0 mm or 0 degree.
Format
POSCLR<JntNumber>
Explanation
POSCLR forcibly restores the angle of a joint specified by <JntNumber> to 0
mm or 0 degree.
This command is applicable only to joints specified for boundless rotation.
Use this command if a joint keeps on rotating in the same direction so that any
of the following happens:
- The current position value becomes too large to handle.
- The current position value jumps to a large negative value (due to overflow or
wrap-around of a variable value).
To execute this command, you need to get an arm group including a joint
whose position is to be restored to its origin.
Related Terms
Example
PROGRAM PRO1
TAKEARM 1
DRIVEA (7,100) 'Move 7th joint to an angle of 100 degrees.
POSCLR 7 'Force restore the current angle of the 7th
'joint to 0 degree.
END
Notes
(1) This command is not applicable to robot joints (Only to extended-joints).
(2) The controller runs this command after the robot has completely stopped.
Therefore, any pass motion command written preceding POSCLR will
cause no pass motion.
(3) The Step Back function cannot return the program control back to any
command written preceding the POSCLR command.
Comments to this Manuals