This is part of 2.1.0 – latest release.

MLxxCompareTCP

Compare two TCP (cartesian) positions.

Compare TCP position to a reference position. If the difference is less than the LinearTolerance , the function block output is true.

If the angular TCP position difference is greater or equal to 0.001 degrees, function block always returns false.

Version history

05 Jan 2021 deGroot

Changed:

kind	name	type
input	CurrentTCP	`MLxRobotPosition`
input	ReferenceTCP	`MLxRobotPosition`
input	LinearTolerance	`REAL`

TCP position to compare [X,Y,Z,Rx,Ry,Rz].

Reference TCP position [X,Y,Z,Rx,Ry,Rz].

REAL

Linear Tolerance.

Snippet of the function call:

dummy := MLxxCompareTCP(
           CurrentTCP := , 
           ReferenceTCP := , 
           LinearTolerance := );