#PLATCH precision-point function #PLATCH precision-point function Syntax #PLATCH ( select ) Function Return a precision-point value representing the location of the robot at the occurrence of the last external trigger or a Stop on Digital Signal. Usage Considerations The function name #PLATCH is considered to be a precision-point name. Thus, the # character must precede all uses of the function. #PLATCH(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 #PLATCH 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 #PLATCH( ) returns a precision-point value that represents the location of the robot when the last trigger occurred. The LATCHED real-valued function should be used to determine 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 .
See the Adept Intelligent Force Sensor User's Guide for details of the Stop on Digital Signal option. Related Keywords LATCH transformation function LATCHED real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 402