Difference between revisions of "MC-Basic:robot.GLOBALHERE"
| Line 41: | Line 41: | ||
* [[MC-Basic:axis.POSITIONFEEDBACK|axis.POSITIONFEEDBACK]] | * [[MC-Basic:axis.POSITIONFEEDBACK|axis.POSITIONFEEDBACK]] | ||
* [[MC-Basic:robot.GLOBALSETPOINT|robot.GSETPOINT]] | * [[MC-Basic:robot.GLOBALSETPOINT|robot.GSETPOINT]] | ||
| − | * [[ | + | * [[MC-Basic:robot.TOOL|robot.TOOL]] |
* [[Axystems:MC-Basic:robot.WORKPIECE|robot.WORKPIECE]] | * [[Axystems:MC-Basic:robot.WORKPIECE|robot.WORKPIECE]] | ||
* [[MC-Basic:robot.MACHINETABLE|robot.MACHINETABLE]] | * [[MC-Basic:robot.MACHINETABLE|robot.MACHINETABLE]] | ||
Revision as of 08:55, 22 May 2014
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