ID : 3913

P2J

Function

To convert position type data into joint type data to return.

Syntax

P2J(position type data)

Guaranteed Entry

Position type data: Designate Position Type data.

Return Value

Return Joint Type data.

Description

Position type data are converted into joint type data to return.

Calculation result reflecting current work coordinates and current tool coordinates is returned.

Related Terms

J2P, J2T, P2T, T2J, T2P

Attention

If the designated position type data is out of the motion space of the robot, an Error level 1 occurs. You may use the "On Error" statement to create an error processing routine. Refer to "On Error."

If FIG value of the designated position type data is "-1 (inconstant)" or "-2 (automatic)," return value varies depending on the current position of the robot. Refer to "Robot Figure (FIG)."

Example

'!TITLE "Conversion from Position Type to Joint Type"
' Convert the current position acquired in position type into joint type
Sub Sample_P2J

  Dim aaa As Position
  Dim bbb As Joint

  ' Acquisition of current position
  aaa = CurPos

  ' Conversion from position type to joint type
  bbb = P2J( aaa )

  ' Display the current position converted into joint type on the message output window
  PrintDbg bbb

End Sub

ID : 3913

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