Hi
Can anyone please help I'm trying to write a basic program moving from a home position then using a Force search, at the point of contact I'm using a variable with get_actual_tcp_pose() hoping to use that variable to return to that same position after another set of Moves to start searching again from last point from the saved variable?

@stubrg

Use an assignment instruction to store the actual position in a variable.



In a waypoint, you have to select variable position and then select the variable in the list.

Thank you for the quick response and great solution. If I then wanted to start the search again from the last get_actual_tcp_pose() would i need to write the force search section in after every move to last position or could I put it into a Loop?

You could use a loop so long as you need to loop through the same code each time. Hard to say without knowing how your proposed process flows.