HERE

HERE pose variable

Function

Assigns the current pose to the pose variable with the specified variable name. The pose may be
expressed in transformation values, joint displacement values or compound transformation
values

Parameter

Pose variable
Variable value can be specified in transformation values, joint displacement values, or compound
transformation values.

Explanation

The pose may be expressed in transformation values, joint displacement values or compound
transformation values.

The values of the variable are displayed on the terminal followed by the message “Change?”
The values can be changed by entering the values separating each value with a comma. The
value that is not changed may be skipped. Press  after the message “Change?” to finish editing
the values

If the variable is defined in joint displacement values (variable name starting with #), the joint
values of the current pose are displayed. If the variable is transformation values, the XYZOAT
values are displayed. The XYZ values describe the position of the origin of the tool coordinates
with respect to the base coordinates. The OAT values describe the orientation of the tool
coordinates.

Example

HERE #pick           //Assigns the robot’s current pose to variable “#pick” (joint displacement values)
HERE place           //Assigns the robot’s current pose to variable “place” (transformation values)
HERE plate + object  //Pose “object ” is defined so that its relative pose to the pose “plate” becomes the robot’s current pose. Error occurs if “plate ” is undefined