Difference between revisions of "MC-Basic:robot.GLOBALHERE"
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* [[Element Coordination/Global Coordinates| Global_Coordinates]] | * [[Element Coordination/Global Coordinates| Global_Coordinates]] | ||
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| − | [[Category | + | [[Category:Motion:MovingFrame]] |
Revision as of 09:18, 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