ID : 9891

StartBackTraceLog

Function

To start the recording of the motion log for the origin return.

Syntax

StartBackTraceLog

Description

Delete data stored in the dedicated ring buffer of the origin return guidance function, start the recording of the motion log for the origin return.
The available recording time is 10 minutes. Once 10 minutes elapse, it will be overwritten from the oldest record.

While the encoder is stopped, it is not recorded.

Attention

To generate the trajectory of the origin return, you need to record the motion log from the specified origin to the start position of the origin return.
When this command is executed, the origin specified by SetVirtualTracePos is also deleted simultaneously with the motion log.

Example

Sub Sample_StartBackTraceLog

  TakeArm Keep = 1

  StartBackTraceLog  ' Start the recording of the motion log
  SetVirtualTracePos 1  ' Specify the current robot position as the origin return position
  
  Move P, P[10]
  StopBackTraceLog  ' Stop the recording of the motion log

End Sub