Difference between revisions of "MC-Basic:robot.GLOBALHERE"
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= GHERE | |SHORT FORM= GHERE | ||
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|SEE ALSO= | |SEE ALSO= | ||
| − | * [[MC-Basic: | + | * [[MC-Basic:element.POSITIONFEEDBACK|POSITIONFEEDBACK]] |
* [[MC-Basic:robot.GLOBALSETPOINT|robot.GSETPOINT]] | * [[MC-Basic:robot.GLOBALSETPOINT|robot.GSETPOINT]] | ||
* [[MC-Basic:robot.TOOL|robot.TOOL]] | * [[MC-Basic:robot.TOOL|robot.TOOL]] | ||
| − | * [[ | + | * [[MC-Basic:robot.WORKPIECE|robot.WORKPIECE]] |
* [[MC-Basic:robot.MACHINETABLE|robot.MACHINETABLE]] | * [[MC-Basic:robot.MACHINETABLE|robot.MACHINETABLE]] | ||
* [[MC-Basic:robot.GLOBALBASE|robot.GBASE]] | * [[MC-Basic:robot.GLOBALBASE|robot.GBASE]] | ||
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* [[Element Coordination/Global Coordinates| Global_Coordinates]] | * [[Element Coordination/Global Coordinates| Global_Coordinates]] | ||
}} | }} | ||
| − | [[Category | + | [[Category:Motion:MovingFrame]] |
Latest revision as of 12:05, 13 September 2017
| Language: | English • 中文（简体） |
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Returns the actual robot Cartesian coordinates in global frame. This variable is computed each sampling period from the motor feedback position. It equals GBASE:TOCART(PFB). It is a counterpart of GSETPOINT.
Short form
GHERE
Syntax
<point_variable> = <robot_name>.ghere
? <robot_name>.ghere
Type
Location of XYZYPR independent of the chosen robot type.
Units
location units
Scope
Configuration, Task, Terminal
Limitations
Modal only , Read only
Examples
P1 = Scara.GHere
? Scara.Here