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ID : 343
LetJ
Function
To assign a value to axis elements specified by Joint Type variable.
Syntax
LetJ axis number, joint type variable = formula
Guaranteed Entry
- Axis number
- Designate Integer Type data from 1 to 8.
- Joint type variable
- Designate a Joint Type variable name you want to assign a value to.
- Formula
- Designate Single Precision Real Number Type data.
Description
Elements of axis number specified by joint type variable are assigned by the formula value.
Elements other than the specified axis number element cannot be changed.
Jvar = j(j1, j2, j3, j4, j5, j6, j7, j8)
LetJ 3 ,Jvar = Ivar
'Jvar : j(j1, j2, Ivar, j4, j5, j6, j7, j8)Attention
It is not judged whether the assigned variable is a value that can be taken as robot's position.
Example
'!TITLE "Assignment to Joint Type Specified Link Angle"
' Assign the specified link angle in the current position
Sub Sample_LetJ
Dim aaa As Joint
Dim bbb As Joint
aaa = CurJnt
PrintDbg aaa
' Assign the 2-axis link angle of aaa to 1-axis of bbb
LetJ 1, bbb = Joint( 2, aaa )
' Display the specified link angle in the current position on the message output window
PrintDbg bbb
End SubID : 343