ID : 2704

CalcBackTraceLog

Function

To generate a trajectory of the origin return.

This command is available in Ver.2.14.* or later.

Syntax

CalcBackTraceLog Return position

Guaranteed Entry

Return position: Specify the origin that you want to return by integer type data.
-1: Origin recorded at the last
1 or larger: Origin specified at the origin return position other than the last recorded origin.

Description

Calculate based on the specified return position and the recorded control log, and generate the trajectory of the origin return.

"0" cannot be specified for the return position.

If you specify the origin return position by the value of single precision real number type using the user data function, numbers after decimal point are recognized as values rounded down when calculating the origin return path. For example, if the origin return position is set to 4.1, the point is recognized as 4.

Attention

Before you use this command, you need to specify the origin by "SysLog.Ctrl.UserData".
Before you use this command, you need to acquire the axis control by "TakeArm".
If the recorded robot operation time is longer, the calculation of the trajectory of the origin return takes more time.
If the last position of the control log of the origin return and the robot current position are different over a certain amount, an error will occur.

Example

Sub Sample_CalcBackTraceLog

  ' Acquiring Axis Control of the Arm Group
  TakeArm Keep = 1
 
  ' Specify the origin return number 3 as the return position and generate a trajectory of the origin return
  CalcBackTraceLog(3)  
 
End Sub