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ID : 9200

T2J

Function

To convert 齐次变换型 data into 连接型 data and returned.

Syntax

T2J(homogeneous translation type data)

Guaranteed entry

Homogeneous translation type data
Designate 齐次变换型 data.

Return value

Return 连接型 data.

Description

齐次变换型 data are converted into 连接型 data and returned.

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

Related Terms

J2P, J2T, P2J, P2T, T2P

Attention

If the designated homogeneous translation type data is out of the motion space of the robot, an 错误等级1 occurs. You may use the "On Error" statement to create an error processing routine. Refer to "On Error."

If the designated homogeneous translation type data is data that cannot be normalized, an 错误等级1 occurs. You may use the "On Error" statement to create an error processing routine. Refer to "On Error."

If FIG value of the designated position type data is "-1 (inconstant)" or "-2 (automatic)," return value varies depending on the current position of the robot. Refer to "Robot Figure (FIG)."

Example

'!TITLE "Conversion from Homogeneous Translation Type to Joint Type"
' Convert the current position acquired in homogeneous translation type into joint type
Sub Sample_T2J

  Dim aaa As Trans
  Dim bbb As Joint

  ' Acquisition of current position
  aaa = CurTrn

  ' Conversion from homogeneous translation type to joint type
  bbb = T2J( aaa )

  ' Display the current position converted into joint type on the message output window
  PrintDbg bbb

End Sub

ID : 9200

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