Basic Characteristics RAPID

Program execution
Example
Syntax
The coordinates returned represent the TCP position in the ProgDisp coordinate system.
VAR pos pos2;
VAR pos pos3;
VAR pos pos4;
pos2 := CPos(\Tool:=grip3 \WObj:=fixture);
.
.
pos3 := CPos(\Tool:=grip3 \WObj:=fixture);
pos4 := pos3-pos2;
The x, y, and z position of the robot is captured at two places within the program
using the CPos function. The tool grip3 and work object fixture are used for calculating
the position. The x, y and z distances travelled between these positions
are then calculated and stored in the pos variable pos4.
CPos ’(’
[’\’Tool ’:=’ ]
[’\’WObj ’:=’ ] ’)’
A function with a return value of the data type pos.
Related information
Described in:
Definition of position Data Types - pos
Definition of tools Data Types- tooldata
Definition of work objects Data Types - wobjdata
Coordinate systems Motion and I/O Principles - Coordinate
Systems
Reading the current robtarget Functions - CRobT
9-CPos-2 RAPID Reference Manual