Robot.Dest Property

Returns a Cartesian Location whose value is equal to the originally planned final destination of the previously executed motion.

...Robot.Dest ( robot )

Prerequisites

None

Parameters

robot

An optional numeric expression that specifies the robot to be accessed (1-n). If this value is 0 or unspecified, the Selected robot will be accessed.

Remarks

This property can be used for retrieving the Cartesian position and orientation that was originally planned as the final destination for the previously executed motion. The previously executed motion can still be in progress or could have already stopped executing when this property is accessed.

This information is useful since it is not altered even if the previous motion was prematurely terminated due to a RapidDecel, E-Stop, or other condition. Consequently, this data can be utilized to complete the previous motion.

Note that performing a motion that is relative to the Dest Location is not the same as performing a Move.Rel instruction. The Move.Rel instruction will perform a incremental motion relative to wherever the robot's final position was at the conclusion of the previous motion. Moving relative to the Dest Location moves with respect to where the previous motion was planned to terminate.

Table 19-79 describes the data returned in the Location value.

Table 19-79: Dest Property Location Value
Property	Returned Location Object value
Type	Cartesian Location
PosWrtRef	Set equal to planned Cartesian position and orientation destination of the previous motion.
RefFrame	Always Null
Config	Configuration bits for the planned destination of the previous motion.
ZClearance	1.0e32 to indicate not initialized
All other properties	Always zeroed.

Examples

Dim DestLoc As Location 
DestLoc = Robot.Dest()      ' Reads planned motion destination