ID : 189

DestPos

Function

To return the current motion statement target position by position type data.

Syntax

DestPos

Return value

Return the current motion instruction target position by Position Type data.

Description

The current motion instruction target position is returned by Position Type data.

The current position (command position) is returned when the robot is stopped.

Attention

If a motion is interrupted by "Interrupt" and "MotionSkip" commands that stop the motion by a motion instruction, the target position is modified at the time of interruption.

Example

'!TITLE "Acquiring Motion Instruction Target Position"
' Acquire the motion instruction target position by P type
Sub Sample_DestPos

  Dim aaa As Position

  TakeArm Keep = 1

  aaa = P( 500, 300, 500, 180, 0, 180, -1 )

  ' Move to aaa position asynchronously
  Move P, aaa, Next

  Do

    ' Display the current coordinate position and target position
    ' coordinates on the message output window
    PrintDbg CurPos, DestPos

    '　Wait for 200ms (0.2s) motion
    Delay 200

   ' Until the motion is completed
  Loop Until( MotionComplete )

End Sub