Motion Instructions: Difference between revisions

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PR (position register) – corresponds to predefined location where position can be found. Position registers are "global" variables that stay the same in all programs. PR[1] used in one program is the same as PR[1] in another. Modifying the contents of a position register will affect all future uses, across all programs.
 
For an understanding of the contents of the position variables, see [[DATA]].
P[n] = (x,y,z,w,p,r,configuration) – configuration describes axis condition at destination
wrist could be N (not-flipped) or F (flipped), elbow could be U (up) or D (down), robot could be T (Front) or B (back)
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