JHERE program instruction JHERE program instruction Syntax JHERE variable1, ..., variablen Function Records the current robot joint positions in real or double-precision variables. This instruction supports Micro eV+. Parameters variable1 A real or double-precision variable to receive the position of joint 1. variablen A real or double-precision variable to receive the position of joint n. Details You can specify a maximum of 12 variables. The variables can be array elements with index expressions. You can omit variables from the list as desired. The following example records the joint-3 and joint-5 positions respectively:
JHERE , , j3,,j5 If more variables are defined than there are joints for a robot, the extra variables are zero. Related Keyword JMOVE program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 308