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Create a variable JOINTPOS in Comau PDL

Valued Contributor
Valued Contributor

Hello guys!


How do I create a variable JOINTPOS on OLP, because the location in Comau module are saved only in POS (X, Y, Z, Rx, Ry, Rz) and I need to for example create a Home position where the data is saved in JOINTPOS (J1, J2, J3, J4, J5, J6).
How do I assign the variable Home := (J1, J2, J3, J4, J5, J6) and then have to move the robot with the location through the MOVE TO Home?


Re: Create a variable JOINTPOS in Comau PDL

Siemens Phenom Siemens Phenom
Siemens Phenom

You need to create robot POSES, then those POSES will be made available in "Motion Type" in addition to Joint, Lin and Circ.

Locations linked to a robot POSE will be downloaded in joint coordinates.