Operating instructions

5. SPEL AOI Reference
EPSON RC+ 7.0 Option AOI (Add-On Instructions) Rev.1 43
SPEL_LocalGet
Description
Gets data for a given local coordinate system.
Common Inputs and Outputs
Refer to section 2.4 SPEL AOI Common Inputs and Outputs.
Inputs
NumAxes INT number of axes in the robot. For SCARA, use 4, for Articulate robot, use 6.
LocalNum INT desired local number you want to get.
Outputs
LocalX REAL the coordinate value of that axis.
LocalY REAL the coordinate value of that axis.
LocalZ REAL the coordinate value of that axis.
LocalU REAL the coordinate value of that axis.
LocalV REAL the coordinate value of that axis.
LocalW REAL the coordinate value of that axis.
Operation
Refer to section 2.5 SPEL AOI General Operation.
Refer to Local Statement in the SPEL+ Language Reference manual.
Example
To get the coordinate values for local number 3 of a SCARA robot, enter values and run the AOI as shown below.