Creating and Altering Location Variables Creating and Altering Location Variables Creating Location Variables The most straightforward method of creating a location variable is to place the robot or motion device at a location and enter the monitor command: HERE loc_name Transformations vs. Precision Points A location can be specified using either the six components described in the previous section, or by specifying the state the robot joints would be in when a location is reached. The former method results in a transformation variable. Transformations are the most flexible and efficient location variables. Precision points record the joint values of each joint in the motion device.
Precision points may be more accurate, and they are the only way of extracting joint information that will allow you to move an individual joint. Precision points are identified by a leading pound sign (#). The command: HERE #pick will create the precision point #pick equal to the current robot joint values. Modifying Location Variables A location variable can be duplicated using the SET program instruction. The program instruction: SET loc_name = loc_value results in the variable loc_name being given the value of loc_value. The following functions return transformation values: TRANS Create a location by specifying individual components of a transformation.
A value can be specified for each component. SHIFT Alter the Cartesian components of an existing transformation. The SET operation can be used in conjunction with the transformation functions SHIFT and TRANS to create location variables based on specific modifications of existing variables. SET loc_name = SHIFT(loc_value BY 5, 5, 5) will create the location variable loc_name. The location of loc_name are shifted 5 mm in the positive X, Y, and Z directions from loc_value. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 109