Creating and Altering Location Variables APPRO assm.frame:loc.1, 25 MOVE assm.frame:loc.1 ;Activate gripper DEPART 25 APPRO assm.frame:loc.1, 25 MOVE assm.frame:loc.2 ;Activate gripper DEPART 25 ; etc. In the above example, the frame must be taught each time the assembly moves-the locations on the assembly must be taught only once. The instruction HERE assm.frame:loc.1 tells the system to record the location loc.1 relative to assm.frame rather than relative to the world coordinate frame. If a subassembly is being built relative to loc.1, the instruction: HERE assm.frame:loc.1:sub.loc.1 creates a compound transformation where sub.loc.1 is relative to the transformation assm.frame:loc.1.
Miscellaneous Location Operations The instruction: DECOMPOSE array_name[] = #loc_name places the joint values of #loc_name in the array array_name. DECOMPOSE works with transformations and precision points. The command: WHERE displays the current robot location. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 115