LATCH transformation function LATCH transformation function Syntax LATCH (select) Function Return a transformation value representing the location of the robot at the occurrence of the last external trigger or Stop on Digital Signal. Usage Considerations LATCH(0) returns information for the robot selected by the task executing the function. If the eV+ system is not configured to control a robot, use of the LATCH(0) function does not generate an error because of the absence of a robot. However, the information returned by the function may not be meaningful. Parameter select Optional integer, expression, or real variable specifying:
0 Robot position latch of currently selected robot (default) n Robot position latch of robot n Details LATCH() returns a transformation value that represents the location of the robot when the last external trigger occurred or the last Stop On Digital Signal occurred. The LATCHED real- valued function should be used to determined when an external trigger has occurred and a valid location has been recorded. Operation of the external trigger can be configured from the eV+ System Configuration Editor in the ACE software. For details, see the ACE User's Guide .with ACE. See the Adept Intelligent Force Sensor User's Guide for details of the Stop on Digital Signal option.
The DEVICE real-valued function may be used to read the latched value of an external encoder Related Keywords DEVICE real-valued function LATCHED real-valued function CLEAR.LATCHES program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 319