FANUC R-J3iB - 6.4 READING AND WRITING THE CURRENT POSITION (%R)

6.ADDRESS ASSIGNMENT TO POINTS OPERATION B-82604EN/01
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6.4 READING AND WRITING THE CURRENT POSITION (%R)
The current position of the robot can be read through CIMPLICITY.
In the same manner of the position register, set $SNPX_ASG for %R
assignment.
For the assignment of the current position, set the elements of
$SNPX_ASG as follows:
$SNPX_ASG element Explanation
$ADDRESS Meaning: Start address of %R to be assigned
Range: 1 to 16384
$SIZE Meaning: Number of %R’s to be assigned
For the current position, 50 %R’s are used.
(The number of %R’s used can be changed by specifying @ in $VAR_NAME)
Range: 1 to 16384
$VAR_NAME Meaning: Character string indicating the data to be assigned
When assigning the current position, specify, for example, POS[0]. The
number in brackets is the user coordinate system number.
When 0 is specified as the user coordinate system number, the current
position in the world coordinate system can be read. This is equivalent to
selecting WORLD on the current position screen on the teach pendant.
When 15 is specified as the user coordinate system number, the current
position in the currently selected user coordinate system can be read. This is
equivalent to selecting USER on the current position screen on the teach
pendant.
When a number from 1 to 9 is specified as the user coordinate system
number, the current position in the specified user coordinate system can be
read regardless of the user coordinate system currently selected.
The data structure is the same as that of the position register.
The current joint position is not affected by the user coordinates. Therefore,
the current joint position can be read even when any user coordinates are
specifies.
In a multi-group system, POS[0] indicates the current position of the robot of
group 1. To specify the robot of group 2, specify the group before the user
coordinate system number, such as POS[G2:0].
When @ is specified after the character string, only J1 through J6 are
assigned. This will be explained in detail later.
$MULTIPLY Meaning: Multiplier
Only the elements such as X, Y, Z, and J1 that have a real number are
affected by $MULTIPLY. For the affected elements, see the table given below:
The value of each element of the current position is multiplied by the value set
in $MULTIPLY, then the multiplication result is read or written.
When $MULTIPLY is set to 0, it has a special meaning. %R can be read and
written as 32-bit real type data.