Here Statement

Teach a robot point at the current position.

Syntax
Here point

Parameters

point: Specify Pnumber, P(expr), or point label.

Notes

The Here statement and Parallel Processing

You cannot use both of the Here statement and parallel processing in one motion command like this:
```
Go Here :Z(0) ! D10; MemOn 1 !
```
Be sure to change the program like this:
```
P999 = Here
Go P999 :Z(0) ! D10; MemOn 1 !
```
Be sure to change the program like this:
The Here statement and Multitask

If the Here statement is executed in a multitask function executed by Xqt while the robot is moved by Move, Go, etc., in the main task, the task will be stopped due to an error.

Current robot position can be retrieved by CurPos.

Example
```
Function Xqt_PrintHere
Do
Print CurPOS
Wait 0.1
Loop
Fend
Function main
Xqt 10, Xqt_PrintHere
Go P0
Fend
```
Use with CP

If Here is used when pass motion is enabled, the motion trajectory is not synthesized before the motion for which Here is specified, and the motion is decelerated. In the following usage, P1 decelerates to a stop and then starts the next operation.
```
Go P1 CP 
Go Here+X(100)  
```
If you want it to work without stopping, modify the program to pre-calculate the position of Here.
```
Go P1 CP    
Go P1+X(100)    
```

See Also
Here Function, CurPos

Here Statement Example

Here P1
Here pick

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