Difference between revisions of "MC-Basic:robot.GLOBALHERE"
| Line 44: | Line 44: | ||
* [[Axystems:MC-Basic:robot.WORKPIECE|robot.WORKPIECE]] | * [[Axystems:MC-Basic:robot.WORKPIECE|robot.WORKPIECE]] | ||
* [[Axystems:MC-Basic:robot.MACHINETABLE|robot.MACHINETABLE]] | * [[Axystems:MC-Basic:robot.MACHINETABLE|robot.MACHINETABLE]] | ||
| − | * [[ | + | * [[Axystems:MC-Basic:robot.GLOBALBASE|robot.GBASE]] |
* [[Axystems:Element Coordination/Global Coordinates | Global_Coordinates]] | * [[Axystems:Element Coordination/Global Coordinates | Global_Coordinates]] | ||
}} | }} | ||
[[Category:Axystems:Motion:MovingFrame]] | [[Category:Axystems:Motion:MovingFrame]] | ||
Revision as of 15:25, 8 October 2013
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