POSCLR
(Statement)
[Version 1.5 or later]
Forcibly restores the current position of a joint to 0 mm or 0 degree.
POSCLR<JntNumber>
POSCLR forcibly restores the angle of a joint specified by <JntNumber> to 0 mm or 0 degree.
This command is applicable only to joints specified for boundless rotation.
Use this command if a joint keeps on rotating in the same direction so that any of the following happens:
The current position value becomes too large to handle.
The current position value jumps to a large negative value (due to overflow or wrap-around of a variable value).
To execute this command, you need to get an arm group including a joint whose position is to be restored to its origin.
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This command is not applicable to robot joints (Only to extended-joints).
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The controller runs this command after the robot has completely stopped. Therefore, any pass motion command written preceding POSCLR will cause no pass motion.
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The Step Back function cannot return the program control back to any command written preceding the POSCLR command.
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PROGRAM PRO1
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TAKEARM 1
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DRIVEA (7,100)
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'Move 7th joint to an angle of 100 degrees.
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POSCLR 7
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'Force restore the current angle of the 7th
'joint to 0 degree.
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END
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