Difference between revisions of "MC-Basic:robot.GLOBALHERE"
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* [[MC-Basic:robot.GLOBALSETPOINT|robot.GSETPOINT]] | * [[MC-Basic:robot.GLOBALSETPOINT|robot.GSETPOINT]] | ||
* [[MC-Basic:robot.TOOL|robot.TOOL]] | * [[MC-Basic:robot.TOOL|robot.TOOL]] | ||
Latest revision as of 12:05, 13 September 2017
| Language: | English • 中文（简体） |
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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