MC-Basic:COMMON SHARED or DIM SHARED or DIM ... AS LOCATION OF .../zh-hans

语言:	[[::MC-Basic:COMMON SHARED or DIM SHARED or DIM ... AS LOCATION OF ...|English]]  • [[::MC-Basic:COMMON SHARED or DIM SHARED or DIM ... AS LOCATION OF .../zh-hans|中文（简体）‎]]

格式

COMMON SHARED|DIM SHARED|DIM <variable_name>{[ ]＃} AS LOCATION OF <robot_type>

适用版本

All versions

描述

位置是一种机器人点变量。对于笛卡尔坐标，位置变量由6个组件定义，分别表示“X，Y，Z，Yaw，Pitch，Roll”。有关支持的点类型的完整列表，请参见： Point_Type_List

位置变量可以在所有范围内定义，即在配置文件中，从终端（全局变量），或在任务之前（静态变量）和程序块（局部变量）内定义。 位置点也可以定义为子程序和函数的参数，以及函数的返回值。 位置变量可以是标量或数组。 数组最多可以有10个维度。

笛卡尔系统变量：这里，设定点。 loc= <ROBOT> .here系统维护变量返回参考机器人WORLD参考系下工具点的当前位置变换。

笛卡尔位置定义：系统使用前面加上“＃”符号的大括号用于区分关节位置和笛卡尔位置。

#{x_value, y_value, z_value, yaw_value, pitch_value, roll_value}

类型

<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

使用范围

According to the Robot Type

单位

User defined position units

使用范围

Configuration ,Task or Terminal

Since Version 4.5.17 the global (common shared ) declaration is also possible from the Library context.

限制

Write only. A valid robot type must be used.

例子

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

参见

• 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