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Get Robot Delta Actual TCP position on Indralogic

Get Robot Delta Actual TCP position on Indralogic

giustola69
Long-established Member

Hello,

I'm just wondering about how to get the TCP Delta robot position feedback on my Indralogic PLC application. I'm trying it on a CtrlX Virtual Control

I've tried with the following FB but without success.

giustola69_0-1714462720702.png

The robot feedback positions is :

giustola69_1-1714462758503.png

I tried with another FB but I could only read the joint position not the TCP position

giustola69_2-1714463010215.png

Could you please help me to undertandhow I could get the TCP positions ?

Many Thanks

Giuseppe

 

1 REPLY 1

bostroemc
Occasional Contributor

I was able to recreate your results with MC_GroupReadActualPosition and MB_KinGetIpoValues.

One option is to use function ML_KinGetPosData found in library CXA_Motion.  Typical usage is shown below. (Here kinematic type is Delta_TwoAxisRotational.)

2024-04-30_15h21_32.png

2024-04-30_15h24_30.png

Note also that the KinematicInterface correctly publishes position data in the various coordinate systems (ACS, MCS, etc.).

ctrlX CORE firmware: 2.4.x, ctrlX PLC Engineering: 2.4.0.

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