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.
The robot feedback positions is :
I tried with another FB but I could only read the joint position not the TCP position
Could you please help me to undertandhow I could get the TCP positions ?
Many Thanks
Giuseppe
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.)
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.