SPEL_LocalGet
Description
Gets data for a given local coordinate system.
Common Inputs and Outputs
Reference: Function Blocks Common Inputs and Outputs
Inputs
- NumAxes
- UINT number of axes in the robot.
- For SCARA, use 4, for Articulate robot, use 6.
- LocalNum
- UINT 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
Reference: Function Blocks General Operation
For more details, refer to the following manual:
"SPEL+ Language Reference manual - Local Statement"
Example
To get the coordinate values for local number 3 of a SCARA robot, enter values and run the Function Block as shown below.
