ID : 252

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 (6th-Axis, 4th-Axis) and current tool coordinates (6-axis, 4-axis) 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 : 252

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