ID : 3915

T2J

Function

To convert Homogeneous Translation Type data into Joint Type data and returned.

Syntax

T2J(homogeneous translation type data)

Guaranteed Entry

Homogeneous translation type data: Designate Homogeneous Translation Type data.

Return Value

Return Joint Type data.

Description

Homogeneous Translation Type data are converted into Joint Type data and returned.

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

Related Terms

J2P, J2T, P2J, P2T, T2P

Attention

If the designated homogeneous translation 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 the designated homogeneous translation type data is data that cannot be normalized, 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 Homogeneous Translation Type to Joint Type"
' Convert the current position acquired in homogeneous translation type into joint type
Sub Sample_T2J

  Dim aaa As Trans
  Dim bbb As Joint

  ' Acquisition of current position
  aaa = CurTrn

  ' Conversion from homogeneous translation type to joint type
  bbb = T2J( aaa )

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

End Sub

ID : 3915

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