2.5.5. P*

2.5.5. P*

 

Description	Pose variable to obtain the current position of the robot A read-only variable
Input	Position in all directions	To enter a conditional statement → 『[F1]: Variable』 →『[F2]: Pose』→『P*』
	Position in individual directions	To enter a conditional statement → 『[F1]: Variable』 → 『[F2]: Pose』 → 『P*』 → . → 『R5: PREV/NEXT』 → 『[F1]–[F6]』
Configuration	With items No.8 and 9 of 『[F2]: System』 → 『1: User Interface』, select the coordinate system and value of P*.
	P* coordinate system	Set the reference coordinate system to obtain the position of the robot.
	P* selection	Specify whether to obtain the position of the robot as a command or its current value.
Variable type	P*	Position of the reference coordinate system in all directions [mm]
	P*.X	X-directional position of the reference coordinate system [mm]
	P*.Y	Y-directional position of the reference coordinate system [mm]
	P*.Z	Z-directional position of the reference coordinate system [mm]
	P*.RX	RX-directional position of the reference coordinate system [deg]
	P*.RY	RY-directional position of the reference coordinate system [deg]
	P*.RZ	RZ-directional position of the reference coordinate system [deg]
Example	WAIT (P1.Z-P*.Z)<=0.1		Wait until the difference between the Z-directional position of set P1 and the current one of the robot becomes less than 0.1.
	IF P*.RX<P2.RX AND P*.RY<P2.RY THEN 9		If the RX-directional robot position and RY-directional one are smaller than the P2 value, move to line No. 9. Move to the next line if the condition has not been met.
Note	§ For the P*, set the P* coordinate system and P* selection in 『[F2]: System』 → 『1: User Interface』. § Set the current value to the P* selection to obtain the current position of the robot