F_DestPos Function

Description
Returns the final virtual destination position for position control only, without the effects of force control function.

Usage
F_DestPos

Return Values
Returns the final virtual destination position for position control only, without the effects of force control function.

Detailed Explanation
Returns the position control’s final virtual destination position.
The position control’s final virtual destination position is the virtual final destination position that the original motion command attempted to travel. When the force control function is used, corrections are made according to the force, so this destination position will not be reached. Also, be aware that this function returns the final destination position even immediately after the start of movement; therefore, the position will not be the robot’s current position. If, however, the robot is stopped, it will match the current position.

Usage Example
The following is an example to display the position control’s command position.

Function F_DestPosTest
  Print F_DestPos
Fend

See Also
F_RefPos Function