ID : 251

J2T

Function

To convert Joint Type data into Homogeneous Translation Type data to return.

Syntax

J2T(joint type data)

Guaranteed entry

Joint type data: Designate Joint Type data.

Return value

Return Homogeneous Translation Type data.

Description

Joint Type data is converted into Homogeneous Translation Type data and returned.

Calculation result reflecting current work coordinates (6th-Axis, 4th-Axis) and current tool coordinates (6-axis, 4-axis) is returned.

Related Terms

J2P, P2J, P2T, T2J, T2P

Attention

The argument joint type data is calculated even if it is out of the motion space. To see if it is within the motion space, use the OutRange function.

Example

'!TITLE "Conversion from Joint Type to Homogeneous Translation Type"
' Convert the current angle acquired in joint type into homogeneous translation type
Sub Sample_J2T

  Dim aaa As Joint
  Dim bbb As Trans

  ' Acquisition of current angle
  aaa = CurJnt

  ' Conversion from joint type to homogeneous translation type
  bbb = J2T( aaa )

  ' Display the current angle converted into homogeneous translation type on the message output window
  PrintDbg bbb

End Sub

ID : 251

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