2.9.5 Other Functions

Function	Description	Example of usage	Result
cpo(crd, mode)	Returns the current pose of the robot to the “crd” coordinate system For values that can be used as “crd” elements, see the table under "5.1 Pose". If the mode is “cmd,” it is the command value, and if the mode is “cur,” it is the current value. The “crd” and “mode” parameters may be omitted, and their default values are “base” and “cur,” respectively.	cpo("joint", "cmd")	Pose* that stores the command value of the robot to the axis coordinate system
mkucs(n,po) mkucs(n,po1,po2 ,po3)	Creates and registers the nth user coordinate system object Refer to "5.5 User Coordinate System (UCS)".		0: OK <0: Error code
result()	For some procedures, it may be necessary to check the results. If the result() function is called right after the procedure is executed, the execution result can be returned.	result()

* Pose is a data type that represents the posture of the robot or the position of the tool tip. Details will be described later in "5.1 Pose".