ID : 2226

ConvertPosTool

Function

Convert a given position type data on the currently selected tool coordinate system into the one on the different tool coordinate system and then return the result.

This command is available in Ver.1.10.* or higher.

Syntax

ConvertPosTool(Position type data, Tool coordinate before the conversion,
               Tool coordinate after the conversion)

Guaranteed Entry

Position type data: Specify the position you want to convert the coordinate with position type data.
Tool coordinate before the conversion: Specify each element (X, Y, Z, RX, RY, and RZ) of a tool coordinate that is before the coordinate conversion by Position type data or specify a tool coordinate system number by Integer type data.
For the entry by Position type data, Fig is ignored.
For the tool coordinate system number, available range is from -1 to 63. Specifying "-1" will select the currently selected tool coordinate system number.
Tool coordinate after the conversion: Specify each element (X, Y, Z, RX, RY, and RZ) of a tool coordinate that is after the coordinate conversion by Position type data or specify a tool coordinate system number by Integer type data.
For the entry by Position type data, Fig is ignored.
For the tool coordinate system number, available range is from -1 to 63. Specifying "-1" will select the currently selected tool coordinate number.

To specify Tool coordinate of before and after conversion with Position type data, the version of robot controller you use must be Ver.1.11.* or higher.

Return Value

Return the converted position data with position type data.

Description

Convert a given position type data on the currently selected tool coordinate system into the one on the different tool coordinate system and then return the result.
FIG value of the return value is inherited from the argument FIG value.

Related Terms

Tool Coordinates(6-axis, 4-axis), ChangeTool, ChangeWork, Tool, Work, Base, CurTool, CurWork, ToolPos、WorkPos, ConvertPosWork, ConvertPosBase

Attention

Example

' Convert P1 from the Tool 1 coordinate system into Tool 2 coordinate system
P2 = ConvertPosTool(P1, 1, 2)

' P1 is a tool coordinate value on the tool coordinate system
 whose origin is P(10, 10, 100, 0, 0, 90).
' P2 represents the P1 that is converted to the coordinate system
 whose origin is P(20, 10, 100, 0, 0, 90).
P2 = ConvertPosTool(P1,P(10, 10, 100, 0, 0, 90),P(20, 10, 100, 0, 0, 90))

ID : 2226

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