F_RefPos Function

Description
Returns the current virtual command position for position control only, without the effects of force control function.

Usage
F_RefPos

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

Detailed Explanation
Returns the virtual command position for position control. The position is the same as the position that can be acquired by the second variable in the RefPos status.
The position control’s virtual command position indicates the virtual trajectory that the original motion command attempted to travel. When the force control function is enabled, the robot will move toward a position that is corrected according to the actual force along the virtual trajectory.

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

Function F_RefPosTest
  Print F_RefPos
Fend

See Also
RefPos Status