MC-Basic:robot.GLOBALHERE
Revision as of 08:53, 22 May 2014 by Miborich (talk | contribs) (Miborich moved page Axystems:MC-Basic:robot.GLOBALHERE to MC-Basic:robot.GLOBALHERE: Global renaming of Axystems: namespace into (Main):)
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