Difference between revisions of "MC-Basic:robot.GLOBALSETPOINT"
| Line 42: | Line 42: | ||
* [[MC-Basic:axis.POSITIONCOMMAND|axis.POSITIONCOMMAND]] | * [[MC-Basic:axis.POSITIONCOMMAND|axis.POSITIONCOMMAND]] | ||
* [[MC-Basic:robot.HERE|robot.HERE]] | * [[MC-Basic:robot.HERE|robot.HERE]] | ||
| − | * [[ | + | * [[Robot Working Frames|Robot Working Frames]] |
* [[Element Coordination/Global Coordinates| Global_Coordinates]] | * [[Element Coordination/Global Coordinates| Global_Coordinates]] | ||
}} | }} | ||
[[Category:Axystems:Motion:MovingFrame]] | [[Category:Axystems:Motion:MovingFrame]] | ||
Revision as of 08:56, 22 May 2014
Returns the commanded robot Cartesian coordinates in global frame. This variable is computed each sampling period from the motor command position or according to the current interpolation type. Equals GBASE:TOCART(PCMD). It is a counterpart of HERE.
Short form
GSETPOINT
Syntax
<point_variable> = <robot_name>.gsetpoint
? <robot_name>.gsetpoint
Availability
4.10.x
Type
Location
Units
Location units
Scope
Configuration, Task, Terminal
Limitations
Modal , Read only
Examples
P1 = Scara.SetPoint
? Scara.SetPoint