ID : 7791

MC_ReadActualPosition

To return the current position of robot.

Graphic expression		FB category
Ver.5.5	Ver.5.35	FB category
		Unique

Input and Output Variable

Variable name	Data type	Valid range	Default	Omission (*)
AxesGroup	eRC_AxesGroup			No
AxesGroup	Robot Group Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

(*) : For some Variable, entries can be omitted.

Variable name	Data type / Description
ActualPosition	eRC_PosDensoRobot
ActualPosition	Current position of robot. The current position consists of three structures ("eRC_Position", "eRC_Joint", "eRC_CoordSys").

To return a robot position of a specified robot. This command is used to monitor a robot position with a display.

ID : 7791