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ID : 254
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 (6th-Axis, 4th-Axis) and current tool coordinates (6-axis, 4-axis) is returned.
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 SubID : 254