Difference between revisions of "MC-Basic:robot.GLOBALHERE"
(AXY: new links) |
|||
| (3 intermediate revisions by 3 users not shown) | |||
| Line 1: | Line 1: | ||
| + | {{Languages|MC-Basic:robot.GLOBALHERE}} | ||
| + | |||
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= GHERE | |SHORT FORM= GHERE | ||
| Line 39: | Line 41: | ||
|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]] | ||
| Line 48: | Line 50: | ||
* [[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） |
|---|
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