Basic Characteristics RAPID

CPos Reads the current position (pos) data
Example
CPos (Current Position) is used to read the current position of the robot.
This function returns the x, y, and z values of the robot TCP as data of type pos. If the
complete robot position (robtarget) is to be read, use the function CRobT instead.
VAR pos pos1;
pos1 := CPos(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot TCP is stored in variable pos1. The tool tool1
and work object wobj0 are used for calculating the position.
Return value Data type: pos
Arguments
The current position (pos) of the robot with x, y, and z in the outermost coordinate system,
taking the specified tool, work object and active ProgDisp coordinate system into
consideration.
CPos ([\Tool] [\WObj])
[\Tool] Data type: tooldata
The tool used for calculation of the current robot position.
If this argument is omitted the current active tool is used.
[\WObj] (Work Object) Data type: wobjdata
The work object (coordinate system) to which the current robot position returned
by the function is related.
If this argument is omitted the current active work object is used.
When programming, it is very sensible to always specify arguments \Tool and \WObj.
The function will always then return the wanted position, although some other tool or
work object has been activated manually.
RAPID Reference Manual 9-CPos-1