Returns a Cartesian Location whose value is equal to the accumulated path modifications generated by the Real-time Trajectory Modification mode.
... Robot.RealTimeModAcm ( 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
When the Real-time Trajectory Modification mode is enabled (via the Move.StartRealTimeMod method), this property can be used to sample the instantaneous accumulated path modification value computed by this special mode of operation. Knowledge of the accumulated change is not required in most applications, but this value can be of use in certain situations.
The interpretation of the accumulated change Location is a function of the coordinate frames utilized to apply the real-time modifications and to accumulate the changes. For each of the primary modes of the Real-time Modification method, the planned set point transformation is conceptually computed each trajectory cycle as follows:
World-World Mode
Updated_position = Accumulated_position + SetPoint_position
Updated_orientation = Accumulated_orientation * SetPoint_orientationTool-World Mode
Updated_transform = Accumulated_transform * SetPoint_transform
Tool-Tool Mode
Updated_transform = SetPoint_transform * Accumulated_transform
Examples
Dim dz As Double
dz = Robot.RealTimeModAcm.Z ' Accumulated change in Z position
See Also