HERE transformation function HERE transformation function Syntax HERE Function Return a transformation value that represents the current location of the robot tool point. Usage Considerations The current location is obtained by reading the instantaneous value of the joint encoders so that it represents the actual location of the robot. The HERE function returns information for the robot selected by the task executing the function. If the eV+ system is not configured to control a robot, use of the HERE function does not generate an error due to the absence of a robot. However, the information returned by the function may not be meaningful.
The word "here" cannot be used as the name of a program or variable. Example Calculate the distance between the current robot location and the location the robot is currently moving to: dist = DISTANCE(HERE, DEST) Related Keywords DEST transformation function HERE monitor command HERE program instruction SELECT program instruction SELECT real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 279