ID : 190

DestTrn

Function

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

Syntax

DestTrn

Return value

Return the current motion target position by Homogeneous Translation Type data.

Description

The current motion target position is returned by Homogeneous Translation 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 current motion instruction target position by T type
Sub DestTrn_Sample

  Dim aaa As Position
  Dim bbb As Position

  TakeArm Keep = 1

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

  ' Move to the next processing after starting a motion to aaa coordinate position
  Move P, @P aaa, Next

  ' Assign the motion instruction target position to bbb
  bbb = DestTrn 

  ' Display the motion instruction target position on the message output window
  PrintDbg bbb

End Sub