Basic Characteristics RAPID

ReadMotor Reads the current motor angles
Example
ReadMotor is used to read the current angles of the different motors of the robot and
external axes. The primary use of this function is in the calibration procedure of the
robot.
VAR num motor_angle2;
motor_angle2 := ReadMotor(2);
The current motor angle of the second axis of the robot is stored in
motor_angle2.
Return value Data type: num
Arguments
The current motor angle in radians of the stated axis of the robot or external axes.
ReadMotor [\MecUnit ] Axis
MecUnit (Mechanical Unit) Data type: mecunit
The name of the mechanical unit for which an axis is to be read. If this argument
is omitted, the axis for the robot is read. (Note, in this release only robot is permitted
for this argument).
Axis Data type: num
Program execution
The number of the axis to be read (1 - 6).
The motor angle returned represents the current position in radians for the motor and
independently of any calibration offset. The value is not related to a fix position of the
robot, only to the resolver internal zero position, i.e. normally the resolver zero position
closest to the calibration position (the difference between the resolver zero position
and the calibration position is the calibration offset value). The value represents
the full movement of each axis, although this may be several turns.
RAPID Reference Manual 9-ReadMotor-1