User`s guide

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
The individual components of an existing transformation or precision point can be edited with
the POINT monitor command:
POINT loc_name
displays the transformation components of loc_name and allows you to edit them. If loc_
name is not defined, a null transformation is displayed for editing.
A location variable can be duplicated using the POINT monitor command or SET program
instruction. The monitor command:
POINT loc_name = loc_value
and the program instruction:
SET loc_name = loc_value
both result in the variable loc_name being given the value of loc_value. The POINT monitor
command also allows you to edit loc_name after it has been assigned 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.
Creating and Altering Location Variables
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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