ID : 2227

ConvertPosWork

Function

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

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

Syntax

ConvertPosWork(Position type data, Work coordinate before the conversion,
               Work coordinate after the conversion)

Guaranteed Entry

Position type data: Specify the position you want to convert the coordinate with position type data.
Work coordinate before the conversion: Specify each element (X, Y, Z, RX, RY, and RZ) of a work coordinate that is before the coordinate conversion by Position type data or specify a work coordinate system number by Integer type data.
For the entry by Position type data, Fig is ignored.
For the work coordinate system number, available range is from -1 to 7. Specifying "-1" will select the currently selected work coordinate system number.
Work coordinate after the conversion: Specify each element (X, Y, Z, RX, RY, and RZ) of a work coordinate that is after the coordinate conversion by Position type data or specify a work coordinate system number by Integer type data.
For the entry by Position type data, Fig is ignored.
For the work coordinate system number, available range is from -1 to 7. Specifying "-1" will select the currently selected work coordinate number.

To specify Work 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 work coordinate system into the one on the different work 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, ConvertPosTool, ConvertPosBase

Attention

Example

' Convert P1 from the Work 1 coordinate system into Work 2 coordinate system
P2 = ConvertPosWork(P1, 1, 2)

' P1 is a work coordinate value on the work coordinate system
 whose origin is P(100, 100, 50, 0, 0, 0).
' P2 represents the P1 that is converted to the coordinate system
 whose origin is P(100, 200, 50, 0, 0, 0).
P2 = ConvertPosWork(P1,P(100, 100, 50, 0, 0, 0),P(100, 200, 50, 0, 0, 0))

ID : 2227

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