Where Statement

Displays current robot position data.

Syntax
Where [localNumber]

Parameters

localNumber

Specify the local coordinate system number. Default is Local 0. Optional.

See Also
Joint, PList, Pulse

Where Statement Example
The display type can be different depending on the robot type and existence of additional axes.

The following example is for Scara robot without the additional axis.

>where
WORLD: X: 350.000 mm Y: 0.000 mm  Z: 0.000 mm  U: 0.000 deg V: 0.000 deg W: 0.000 deg
JOINT: 1:  0.000 deg 2: 0.000 deg 3: 0.000 mm  4: 0.000 deg
PULSE: 1:     0 pls  2:     0 pls 3:    0 pls  4:     0 pls

> local 1, 100,100,0,0

> where 1
WORLD: X: 250.000 mm Y:-100.000 mm  Z: 0.000 mm U: 0.000 deg V: 0.000 deg W: 0.000 deg
JOINT: 1:  0.000 deg 2:   0.000 deg 3: 0.000 mm 4: 0.000 deg
PULSE: 1:     0 pls  2:       0 pls 3:    0 pls 4:     0 pls