DEST transformation function DEST transformation function Syntax DEST Function Return a transformation value representing the planned destination location for the current robot motion. Usage Considerations The DEST function 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 DEST function does not generate an error due to the absence of a robot. However, the information returned by the function may not be meaningful. The word "dest" cannot be used as a program name or variable name. Details DEST returns the location to which a robot was moving when its motion was interrupted.
This applies for all motion instructions, including: 1. Motions to named locations, such as MOVE start MOVES #part[10] Note that even though the second instruction references a precision-point location variable, the DEST function returns a transformation value during that motion. 2. Motions to locations defined relative to named locations or defined relative to the current robot location APPROS drop, 50.00 DEPART 30.00 MOVE SHIFT(HERE BY 50,0,10) 3. Motions to special locations such as READY The location value returned by the DEST function may not be the same as the location at which the robot stops if the motion of the robot is interrupted for some reason.
For example, if the RUN/HOLD button on the pendant is pressed, the robot stops immediately, but DEST still returns the location to which the robot was moving. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 167