MC-Basic:COMMON SHARED or DIM SHARED or DIM ... AS LOCATION OF ...
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Location is kind of robot point variable..For cartesian coordinates, a location variable is defined by 6 components representing the values: X, Y, Z, Yaw, Pitch, Roll. For complete list of supported point types see: Point_Type_List
Location variables can be defined in all scopes, i.e., either in configuration file and from terminal (global variables), or within tasks, before (static variables) and within the Program block (local variables). Location points can also be defined as parameters of subroutines and functions, as well as returned-values of functions. A location variable may be a scalar or an array. An array may have up to 10 dimensions.
Cartesian system variables: here, setpoint . loc = <ROBOT>.here system maintained variable which returns the current transformation of the tool tip referred to the WORLD reference frame of the arm.
Cartesian location definition: The curly brackets, preceded by the "#" sign, are used by the system to differentiate between joint and location positions.
#{x_value, y_value, z_value, yaw_value, pitch_value, roll_value}
Syntax
COMMON SHARED|DIM SHARED|DIM <variable_name>{[ ]…} AS LOCATION OF <robot_type>
Availability
All versions
Type
<variable_name> : Location
<robot_type>: XYZR, - Three cartesian axes + roll
XY – two axes XY table
XYZ – three axes XYZ system
XYZYPR - X-Y-Z-Yaw-Pitch-Roll
Range
According to the Robot Type
Units
User defined position units
Scope
Configuration ,Task or Terminal
Since Version 4.5.17 the global (common shared ) declaration is also possible from the Library context.
Limitations
Write only. A valid robot type must be used.
Examples
common shared scara as group axnm = a1 axnm = a2 axnm = a3 axnm = a4 model = 4 ‘SCARA robot Declaration
Common Shared Loc1 as location of XYZR ‘SCARA robot Location
Loc1 = #{90, 180, 0, 0, 0, 0}
Move SCARA Loc1
See Also
- COMMON SHARED ... AS LONG or DOUBLE or STRING or STRING OF UTF8
- DIM SHARED ... AS LONG or DOUBLE or STRING or STRING OF UTF8
- DIM ... AS LONG or DOUBLE or STRING or STRING OF UTF8
- COMMON SHARED or DIM SHARED or DIM ... AS JOINT OF ...
- COMMON SHARED or DIM SHARED or DIM ... AS GENERIC LOCATION
- VARLIST