Position

The same control on both sources: Cartesian on the left, joint angles on the right.

A position control shows where the robot is — either its Cartesian position as X, Y, Z, W, P, R, or its joint angles as J1 to J6. It reads the controller directly, so there are no tags to declare.

It is display-only and never writes.

Adding the control

1. Open the document and select the screen you want from the screen tabs.
2. In the control palette, press Position and drag it onto the canvas.
3. Choose Cartesian or joint, and how many decimals to show.

Properties

Property	Description	Default
Title	Heading above the values.	Current Position
Source	Cartesian (LPOS) or joint (JPOS).	Cartesian
Frame	World, or the active user frame. Cartesian only.	World
Layout	Stacked in one column, or two rows.	stacked
Decimals	Digits after the decimal point.	2
Size	Text size in pixels.	14
Fill / Text / Subtext colors	Appearance.	theme tokens

Cartesian values are millimeters and degrees; joint values are degrees, and each row carries its unit.

Six components are shown — X, Y, Z, W, P, R, or J1 to J6. Rows that do not fit the control’s height are clipped rather than scrolled, so a control sized for five shows five.

World or user frame

The controller reports the TCP relative to WORLD, and that is what the control shows by default. Set Frame to user frame and it shows the same point expressed in whichever user frame the robot is currently in.

Joint angles have no frame, so the option applies to Cartesian only.

Related

• Tags — LPOS and JPOS are also available as tag kinds, for one component at a time.
• System values — uframe_num and utool_num, to show the frame numbers themselves.
• Trend — to watch a value change over time rather than read it now.