Difference between revisions of "MC-Basic:robot.GLOBALHERE"
| Line 41: | Line 41: | ||
|SEE ALSO= | |SEE ALSO= | ||
| − | * [[MC-Basic:axis.POSITIONFEEDBACK|axis.POSITIONFEEDBACK]] | + | * [[AXY:MC-Basic:axis.POSITIONFEEDBACK|axis.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]] | ||
Revision as of 07:08, 14 August 2017
| Language: | [[::MC-Basic:robot.GLOBALHERE|English]] • [[::MC-Basic:robot.GLOBALHERE/zh-hans|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