CURTRN
(System Variable)
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Obtains the current position in the tool coordinate system using type T.
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{CURTRN | *}
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The current positions detected by each axis encoder in the tool coordinate system are stored using type T data.
If the robot is in operation the values are obtained when this instruction is executed.
If the destination pose is obtained use DESTTRN.
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During machine lock operation, the joint angles detected by the encoder of each axis are not stored but virtual joint angles (instruction angles) are stored.
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DEFTRN l+1, l+2
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l+1 = CURTRN
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'Assigns a position in the current tool coordinate system to
' l+1.
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l+2 = *
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'Assigns a position in the current tool coordinate system to
' l+2.
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