Hello,
In the moc file is defined that the external axis should have the following order.
Exax_a = External Axis GANTRY
Exax_b = (undefined)(reserved for another axis)
Exax_c = External Axis HOIST
Exax_d = External Axis SHIFT
Exax_e = (undefined)
Exax_f = (undefined)
These external axis are grouped to one mechanical unit.
When I use the “GetPosition” function that can be found in the MechanicalUnit class, I will get the external axis in the wrong order.
GetPosition returns:
Exax_a = External Axis GANTRY
Exax_b = External Axis HOIST
Exax_c = External Axis SHIFT
Exax_d = (undefined)
Exax_e = (undefined)
Exax_f = (undefined)
But I expected to receive them from the “GetPosition” function as:
Exax_a = External Axis GANTRY
Exax_b = (undefined) (reserved for another axis)
Exax_c = External Axis HOIST
Exax_d = External Axis SHIFT
Exax_e = (undefined)
Exax_f = (undefined)
I’ve tested this also with the function CRobT() in a RAPID program, but then I get the results in the expected order.
I want to know how to get the external axis from “GetPosition” in the expected order?
I’m using Robot Application Builder 10 and Visual studio 2005.
Best Regards
Berrie Schluter