Question about ReadMotor

RAPID Programming
1

I am attempting to utilize the ReadMotor function to determine initial motion during my homing routine. However, the value I receive from the ReadMotor command doesn’t seem to line up with the actual motor angle in degrees OR radians.

Attempting to read value of Axis1 on a single robot system with no external axes…

[code]MotorAngle_1 := ReadMotor(1);
MotorAngle_1 value is returning as -155.803, but the Axis 1 position is 90.0 degrees.

Can anyone tell me what I’m doing wrong

2

Hello
Use CJointT instead as below.

PERS jointtarget joints;
PERS num joint3;

joints:=CJointT();
joint3:=joints.robax.rax_3;

/Pavel

3

I will try this out tomorrow. Thank you!

4

Pavel Riabichev, that worked perfectly! Thank you.