5.3.1.2 g_GetPos - Get current gripper positionUsagesg_GetPos (replacing the original Hand_GetActualPos) is used to retrieve thecurrent position of the gripper, based on the previous calibrated zero point. Notethat this result may have no sense if the gripper is not calibrated.Basic examplesVAR num nLeftHandPos;nLeftHandPos:= g_GetPos();Returned valueData type: numThe function will return the value of the current position in unit of mm.Error handlingIf the communication to the corresponding gripper fails, the error ERR_NORUNUNITwill be raised.If the gripper has not been calibrated, the error ERR_NOTCALIBRATED will be raised.Syntaxg_GetPos '('[ Value ':=' ] IN) of num>')'140 Product manual - IRB 14000 gripper3HAC054949-001 Revision: H© Copyright 2015-2018 ABB. All rights reserved.5 RAPID references5.3.1.2 g_GetPos - Get current gripper position
