ID : 9893

CalcBackTraceLog

Function

To generate a trajectory of the origin return.

Syntax

CalcBackTraceLog Return position

Guaranteed Entry

Return position: Specify the origin that you want to return by integer type data.
-1: Origin specified just before
1 or larger: Origin linked to the origin return number specified by SetVirtualTracePos

Description

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

"0" cannot be specified for the return position.

Attention

Before you use this command, you need to specify the origin by "SetVirtualTracePos" and record the motion log by "StartBackTraceLog".
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 motion log of the origin return and the robot current position are different over a certain amount, an error will occur.

Example

Sub Sample_CalcBackTraceLog

  ' Specify the origin return number 3 as the return position and generate a trajectory of the origin return 
  CalcBackTraceLog 3
 
End Sub