CURTRN
(System Variable)
Obtains the current position in the tool coordinate system using type T.
{CURTRN | *}
The current positions detected by each axis encoder in the tool coordinate system are stored using type T data.
If the robot is in operation the values are obtained when this instruction is executed.
If the destination pose is obtained use DESTTRN.
During machine lock operation, the joint angles detected by the encoder of each axis are not stored but virtual joint angles (instruction angles) are stored.
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DEFTRN l+1, l+2
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l+1 = CURTRN
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'Assigns a position in the current tool coordinate system to
' l+1.
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l+2 = *
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'Assigns a position in the current tool coordinate system to
' l+2.
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