Robot.WhereAngles Property

Returns an Angles Location whose value is equal to the current axes positions of a robot.

...Robot.WhereAngles ( 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 returns the current positions of the axes of a robot in a Angles Location.

The returned value is computed by reading the instantaneous values of each motor's encoder and converting these values into equivalent axes positions. These sampled values are usually slightly different than the commanded axes set point positions due to servo tracking errors and small positional errors.

Note, if you wish to update the position of a Location variable, it is often better to utilize the location_object.Here method rather than simply assigning the WhereAngles Location to the variable. The Here method preserves the other properties of the Location variable.

Table 19-89 describes the data returned in the Location value.

Table 19-89: WhereAngles Property, Location Value
Property	Returned Location Object value
Type	Angles Location
Angles	Set equal to current position of each axes of a robot.
RefFrame	Always Null
Config	Configuration bits for the current robot position and orientation.
ZClearance	1.0e32 to indicate not initialized
All other properties	Always zeroed.

Examples

Dim RobotPos  As Location 
RobotPos =  Robot.WhereAngles()        ' Where is the robot right now?