ID : 7283

GetDiagnosisPosition

Function

To obtain the start position or the end position of the diagnosis motion.

This command is available in Ver.2.6.* or higher.

Syntax

GetDiagnosisPosition(data number)

Guaranteed Entry

Data number: Specify the data to obtain (Start position/End position) with a number (integer type data).

Number	Data to obtain
0	Start position
1	End position

Return Value

Return the designated data by joint type data.

Description

To obtain the start position or the end position (both for all axes) of the diagnosis motion that are configured by the [Diagnosis] window of TP App.

For about the [Diagnosis] window of TP App, refer to "Method by Robot Program".

Attention

Example

Sub Main
  Dim jStartAngle As Joint
  Dim jEndAngle As Joint

  'Get the diagnosis motion start position [user-defined data] with J-type (argument 0)
  jStartAngle = GetDiagnosisPosition( 0 )

  'Get the diagnosis motion end position [user-defined data] with J-type (argument 1)
  jEndAngle = GetDiagnosisPosition( 1 )
  
  'Check the diagnosis motion position
  TakeArm
  Move P, @e jStartAngle
  Move P, @e jEndAngle

End Sub