HERE monitor command HERE monitor command Syntax HERE @task:program loc_variable Function Define the value of a transformation or precision-point variable to be equal to the current robot location. Usage Considerations If no task is specified, the HERE monitor command returns information for the robot selected by the eV+ monitor (with the SELECT command). If a task is specified, the command returns the location of the robot selected by that task (with the SELECT instruction). If the eV+ system is not configured to control a robot, use of the HERE command will cause an error. Parameters @task:program These optional parameters specify the context for the location variable.
The location variable will be treated as though it is referenced from the specified context. If no context is specified, the location variable will be considered global (if the eV+ program debugger is not in use). loc_variable Transformation, precision point, or a compound transformation that ends with a transformation variable. Details This command defines the value of a transformation or precision-point variable to be equal to the current robot location. 1 If a compound transformation is specified, only the rightmost element of the compound transformation will be given a value by this command.
An error message results if any other transformation in the compound transformation is not already defined. Examples Define the transformation "place" to be equal to the current robot location. HERE place Assign the current location of the robot to the precision point "#pick", which is treated as a local variable in the program "test". eV+Operating System Reference Guide, 2.x,18321-000 Rev A Page 105