J2T
(Function)
Transforms joint type data to homogeneous transformation type data.
J2T(<joint type>[ ,<J2T option>])
This function transforms joint type of data in <joint type> to homogeneous transform matrix. The obtained value reflects the currently specified tool or work coordinate system.
<J2T option> is an omissible Result storage variable that should be an integer variable (Ver. 3.0 or later). Specifying this option does not stop programs even if execution of the J2T causes an internal error, but assigns the error code into the specified variable.
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DEFTRN lt1, lt2
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DIM lj1 As Joint
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lt1 = J2T(lj1)
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'Assigns lj1 data transformed to homogeneous
'transformation type data to lt1.
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lt1 = J2T(lj1,li1)
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'If execution of J2T fails, assign the error code into
'variable li1 and then go to the next step.
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6-axis
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lt2 = J2T((0, 0, 90, 0, 0, 0))
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'Assigns the data (0, 0, 90, 0, 0, 0) transformed
'to homogeneous transformation type data to lt2.
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4-axis
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lt2 = J2T((0, 0, 300, 0))
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'Assigns the data (0, 0, 300, 0) transformed
'to homogeneous transformation type data to lt2.
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