ABB MultiMove - Page 79

6 Programming
6.6.3. Example "SyncSpot" with coordinated synchronized movement
773HAC021272-001 Revision: H
© Copyright 2004-2008 ABB. All rights reserved.
PROC ReadProcRobPos()
VAR robtarget pproc;
WHILE TRUE DO
WaitTime 0.5;
IF IsSyncMoveOn() THEN
pproc := CRobT(\Tool:=gun1 \WObj:=wobj_handlerob);
TPWrite "Process robot position: "\Pos:=pproc.trans;
ENDIF
ENDWHILE
ENDPROC
ENDMODULE
Continued