Robot.Source Property

Returns a Cartesian Location whose value is equal to the starting position and orientation of the previously executed motion.

...Robot.Source ( 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 for the starting position of the previously executed motion. The previously executed motion can still be in progress or could have already stopped executing when this property is accessed.

The value returned by this property does not reflect any blending that may have occurred if the motion was executed as part of a continuous path. That is, the value returned will be the same whether or not continuous path was in effect.

This information is very useful when accessed in combination with the Dest Location to reconstruct the previously planned motion. For example, this is beneficial for moving the robot's tool back onto the previous path if the previous motion was prematurely terminated via a RapidDecel.

Table 19-82 describes the data returned in the Location value.

Table 19-82: Source Property, Location Value
Property	Returned Location Object value
Type	Cartesian Location
PosWrtRef	Set equal to starting Cartesian position and orientation of the previous motion.
RefFrame	Always Null
Config	Configuration bits for the start of the previous motion.
ZClearance	1.0e32 to indicate not initialized
All other properties	Always zeroed.

Examples

Dim SourceLoc As Location 
SourceLoc = Robot.Source()      ' Reads starting motion location