MC-Basic:COMMON SHARED or DIM SHARED or DIM ... AS GENERIC LOCATION

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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 GENERIC LOCATION

Availability

Version 4.9.12

Type

<variable_name> : Location

Range

According to the Robot Type. The Robot Type is determined through casting or assignment, and can be redefined numerous times.

How to define the robot type

  • Use CASTPOINT
  • Use CASTLOCATION
  • Assign by another location-type point, which has a pre-defined robot type.

Units

User defined position units

Scope

Configuration ,Task or Terminal

Limitations

Write only.

Examples

common shared scara as group axnm = a1 axnm = a2 axnm = a3 axnm = a4 model = 4 ‘SCARA robot Declaration

Common Shared Loc1 as generic location 'No robot type

Loc1 = Castpoint (#{90, 180, 0, 0, 0, 0}, TYPE_XYZR) ‘SCARA robot Location

Move SCARA Loc1

See Also

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