MC-Basic:robot.GLOBALHERE

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

See Also

• axis.POSITIONFEEDBACK
• robot.GSETPOINT
• robot.TOOL
• robot.WORKPIECE
• robot.MACHINETABLE
• robot.GBASE

• Global_Coordinates