ID : 458

Homogeneous Translation Type

Data type expressing robot's teaching position. This data type is expressed by three-dimensional space coordinates, a rotation angle and FIG elements representing robot figures. A rotation angle is expressed by each coordinate element of the orient vector and the approach vector. The number of elements is 10.

(X, Y, Z, Ox, Oy, Oz, Ax, Ay, Az, FIG)

X, Y, Z: Coordinates of X, Y and Z axes from the work coordinate origin. Individual values are single precision real number type data.
Ox, Oy, Oz: X-, Y-, and Z-axis elements of the orient vector. Individual values are single precision real number type data.
Ax, Ay, Az: X-, Y-, and Z-axis elements of the approach vector. Individual values are single precision real number type data.
FIG: FIG component representing the Robot Figure (6th-Axis, 4th-Axis). Integer in range of -32768 to 32767.

Assignment of Immediate Data by Program Description

Immediate data expression can be described on a program as follows.

E.g. T(10, 20, 30, 1, 0, 0, 0, 1, 0, -1)

T(X [, Y [, Z [, Ox [, Oy [, Oz [, Ax [, Ay [, Az [, FIG ]]]]]]]]])

X: This is a required value representing the X coordinate value.
Y, Z: This is an optional value that represents coordinate values of Y and Z axes. If this is omitted, 0 is assigned.
Ox, Oy, Oz, Ax, Ay, Az: This is an optional value that represents X, Y, and Z components of the orient vector and the approach vector. If this is omitted, 0 is assigned.
FIG: This is an optional value representing the robot figure. If this is omitted, -1 is assigned.

Global Variable

Global variable of homogeneous translation type data is T type.

Local Variable

Local variable of homogeneous translation type data is defined by "Trans."

Dim aaa As Trans
aaa = T(100, 200, 300, 1, 0, 0, 0, 1, 0, -1)

Precautions for Homogeneous Translation Type Data

Use an instruction such as LetX to assign a part of homogeneous translation type data elements. For immediate data assignment, "0" and "-1" are assigned for omitted element(s).