Hi,
Use CRobT the following example is from the manual:
VAR robtarget p1;
MoveL *, v500, fine Inpos := inpos50, tool1;
p1 := CRobT(Tool:=tool1 WObj:=wobj0);
The current position of the robot and external axes is stored in p1. The tool tool1 and work object wobj0 are used for calculating the position.
Note that the robot is standing still before the position is read and calculated. This is achieved by using the stop point fine within position accuracy inpos50 in the preceding movement instruction.
Hope this helps.
Regards
Graeme