Hi, I’m trying to find a way how to make the inital waypoint selectable.
I want to manual move screen to appear so the user must guide the robot into initial location.
But I need to have this initial location variable.
Any thoughts?
Thanks
So far I’ve found that the “Assisted” movement only works, when the first WP in program is fixed. When variable WP is used, robot goes to that WP immediatelly
I’m a little unclear of your application here. Is the person setting this waypoint doing so with the teach pendent? As in the program is running in manual mode? If so, wouldn’t they just teach the fixed waypoint and then press play?
If you’re trying to do this in automatic / remote mode, I think you’ll likely need to use the freedrive_mode() script command in conjunction with an external pushbutton. The program starts out in freedrive, then waits for the input signal. Allow the operator to move the robot wherever you want, then push the button. The next instruction would be to end_freedrive_mode() and then assign a variable to get_actual_tcp_pose() which you can use in other Move commands later when set to that variable.
Hi Eric, thanks for reply, I’ll try to be more clear
Lets start with this
That MOVE causes a manual, or say “Assisted” movement screen to appear when I press Play. This allows to recover to the requested position safely in obstructed filed. Then the program starts from known positon.
I’m looking for the same behavior, but InitPos waypoint to be variable. It will be selected depending on circumstances like actual arm position and fieldbus parmeters.
I don’t actually think that’s possible. Not from the robot’s sequence at least.
Your program isn’t really running before the robot has been moved to its start position with the screen you’re showing. So you can’t alter the start position in the robot program, before you see that screen.
How about making an automatic sequence to return to home instead? If your first waypoint is a relative waypoint, then you won’t be met by the screen that requires you to move to the start position.
Instead, the robot will immediately start its sequence. 
Then you will have to register the robot position in the program and then make it return to its start position itself.
EDIT: You can also use Eric’s method to allow the operator to move the robot in freedrive closer to its start position.
Thank for reply, I have the same feeling. At the moment I’m actually having the solution you are proposing - robot returns to home automatically on startup. I just wanted to add more safety as the path obstacle can occur due variable enviroment.