MC-Basic:robot.GLOBALSETPOINT

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

See Also

• robot.SETPOINT
• axis.POSITIONCOMMAND
• robot.HERE
• Robot Working Frames
• Global_Coordinates