ID : 2704

CalcBackTraceLog

Function

To generate a trajectory of the Home Position Guidance.

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

Syntax

CalcBackTraceLog Return position

Guaranteed Entry

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

Description

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

"0" cannot be specified for the return position.

If you specify the home 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 Home Position Guidance path. For example, if the home position is set to 4.1, the point is recognized as 4.

Attention

Before you use this command, you need to specify the home position 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 Home Position Guidance takes more time.
If the last position of the control log of the Home Position Guidance 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 home position number 3 as the return position and generate a trajectory of the Home Position Guidance.
  CalcBackTraceLog 3
 
End Sub