DESTPOS
(System Variable)
Obtains the current movement instruction destination position with type P.
When the robot stops, the current value (instruction value) is obtained.
DESTPOS
The destination position of the previous movement instruction is stored with a format of a type P data. Because the data can be obtained with a system variable, it does not require to transfer the data to another program with variables such as local variables or global variables.
Use CURPOS to obtain positions detected with each axis encoder.
A stop position is fetched when the movement stops after the movement stop instruction (refer to Part 2 "12.3 INTERRUPT ON/OFF") is entered .
(Example)
INTERRUPT ON
MOVE P, P1 ← An interrupt signal turns ON during movement.
INTERRUPT OFF
P2=DESTPOS
P1=P2 is not satisfied. P2 is a stop position.
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DEFPOS lp1, lp2
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MOVE P, @P lp1, NEXT
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6-axis
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lp2 = DESTPOS+(100, 10, 10, 0, 0, 0)
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'In this case, DESTPOS = lp1.
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4-axis
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lp2 = DESTPOS+(100, 10, 10, 0)
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'In this case, DESTPOS = lp1.
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