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Current position

Read the current robot position in world coordinates or user frame coordinates, for single or multi-group controllers.

World current position
User frame current position
Multi-group controllers
API reference

Read the current robot position in world coordinates or in a specific user frame, for any motion group.

Note: The current position is that of the current tool (UTOOL).

World current position

// Connect to the robot
robot.Connect(parameters);
// Read a current world position
Position worldPosition = robot.Snpx.CurrentPosition.ReadWorldPosition();

// Access the Cartesian position
double x = worldPosition.CartesianPosition.X;

// Access the user tool at this cartesian position
short usertTool = worldPosition.UserTool;

// Access the joint positions
double j1 = worldPosition.JointsPosition.J1;

// Read a current world position of group 2
Position worldPositionG2 = robot.Snpx.CurrentPosition.ReadWorldPosition(2);
}

Click to see the full code

User frame current position

ReadUserFramePosition returns the position relative to a specific user frame. Use user frame 15 to get the currently selected user frame from the pendant.

// Connect to the robot
robot.Connect(parameters);
// Read user frame 2 position
Position userFrame = robot.Snpx.CurrentPosition.ReadUserFramePosition(1);

// Access the Cartesian position
double x = userFrame.CartesianPosition.X;

// Access the user tool at this cartesian position
short usertTool = userFrame.UserTool;

// Access the user frame id
short usertFrame = userFrame.UserFrame;

// Access the joint positions
double j1 = userFrame.JointsPosition.J1;

// Read a current world position of group 2
Position userFrameG2 = robot.Snpx.CurrentPosition.ReadWorldPosition(2);
}

Click to see the full code

Multi-group controllers

For controllers with multiple motion groups (e.g., robot + positioner), specify the group number:

parameters.Snpx.Enable = true;
robot.Connect(parameters);
// Read world position of group 2
Position group2Pos = robot.Snpx.CurrentPosition.ReadWorldPosition(2);

// Read user frame position of group 2
Position group2Frame = robot.Snpx.CurrentPosition.ReadUserFramePosition(1, 2);
}
}

Click to see the full code

API reference

Class

Position

C#Python

Robot position with joints and cartesian representations

Member	Type	Description
Position() Constructor		Default constructor
Position(short, short, JointsPosition, ExtendedCartesianPosition) Constructor		Constructor with user frame, tool, joints and cartesian position
CartesianPosition Property	ExtendedCartesianPosition	Cartesian position with extended axes
JointsPosition Property	JointsPosition	Joint values in degrees
UserFrame Property	short	User frame index
UserTool Property	short	User tool index
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

Class

JointsPosition

C#Python

Joints position in degrees

Member	Type	Description
JointsPosition() Constructor		Default constructor
JointsPosition(double, double, double, double, double, double) Constructor		Constructor with 6 joint values in degrees
JointsPosition(double, double, double, double, double, double, double, double, double) Constructor		Constructor with 9 joint values in degrees
JointsPosition(double[]) Constructor		Constructor from an array of joint values in degrees
this[int] Property	double	Gets or sets the joint value at the specified index
J1 Property	double	Joint 1 in degrees
J2 Property	double	Joint 2 in degrees
J3 Property	double	Joint 3 in degrees
J4 Property	double	Joint 4 in degrees
J5 Property	double	Joint 5 in degrees
J6 Property	double	Joint 6 in degrees
J7 Property	double	Joint 7 in degrees
J8 Property	double	Joint 8 in degrees
J9 Property	double	Joint 9 in degrees
Values Property read only	double[]	Numeric values for each joints
Equals(object) Method	bool
GetHashCode() Method	int
IsNear(JointsPosition, JointsPosition, double) Method static	bool	Check if joints position is near to expected joints position with a tolerance value
ToString() Method	string

Class

ExtendedCartesianPositioninherits CartesianPosition

C#Python

Cartesian position with extended axes (E1, E2, E3)

Member	Type	Description
ExtendedCartesianPosition() Constructor		Default constructor
ExtendedCartesianPosition(double, double, double, double, double, double, double, double, double) Constructor		Constructor with position, rotations, and extended axes
E1 Property	double	Extended axis 1 value
E2 Property	double	Extended axis 2 value
E3 Property	double	Extended axis 3 value
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

Class

CartesianPositioninherits XYZWPRPosition

C#Python

Fanuc cartesian position and rotations

Member	Type	Description
CartesianPosition() Constructor		Default constructor
CartesianPosition(double, double, double, double, double, double) Constructor		Constructor with position and rotations
CartesianPosition(double, double, double, double, double, double, Configuration) Constructor		Constructor with position, rotations and configuration
CartesianPosition(CartesianPosition) Constructor		Copy constructor
CartesianPosition(XYZPosition, double, double, double) Constructor		Constructor from an XYZ position with rotations
Configuration Property	Configuration	Position configuration
Equals(object) Method	bool
FromHomogeneousMatrix(double[,]) Method static	CartesianPosition	Create a CartesianPosition with unknow configuration from a homogeneous rotation and translation 4x4 matrix R : Homogeneous 4x4 matrix
GetHashCode() Method	int
IsNear(CartesianPosition, CartesianPosition, double, double) Method static	bool	Check if two Cartesian positions are near each other within specified tolerances
NormalizeAngle(double) Method static	double	Normalize an angle to the range ]-180, 180]
NormalizeAngles(CartesianPosition) Method static	void	Normalize the W, P, R angles to the range ]-180, 180]
ToHomogeneousMatrix() Method	double[,]	Convert position to a homogeneous rotation and translation 4x4 matrix
ToString() Method	string

Class

XYZPosition

C#Python

Cartesian position X, Y, Z

Member	Type	Description
XYZPosition() Constructor		Default constructor
XYZPosition(double, double, double) Constructor		Constructor with X, Y, Z coordinates in millimeters
X Property	double	X coordinate in millimeters
Y Property	double	Y coordinate in millimeters
Z Property	double	Z coordinate in millimeters
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

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Current position

World current position

User frame current position

Multi-group controllers

API reference