HERE program instruction HERE program instruction Syntax HERE location_var Function Set the value of a transformation or precision-point variable equal to the current robot location. Usage Considerations The HERE instruction returns information for the robot selected by the task executing the instruction. If the eV+ system is not configured to control a robot, executing the HERE instruction does not generate an error because of the absence of a robot. However, the location value returned may not be meaningful. The word "here" cannot be used as a program name or variable name.
Parameter location_var Transformation, precision point, or compound transformation that ends with a transformation variable. Details This instruction sets the value of a transformation or precision-point variable equal to the current robot location. Normally, the robot location is determined by reading the instantaneous values of the joint encoders. However, if the robot has either backlash or linearity compensation enabled, the commanded robot location is used. If the location_var is a compound transformation, only the right-most transformation is defined. Its value is set equal to the current robot location relative to the reference frame determined by the other transformations.
An error message results if any of the other transformations are not already defined. Examples Set the transformation part equal to the current robot location: HERE part Assign the current location of the robot to the precision point #part: eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 277