Denso RC5 Spécifications télécharger pdf (Page 478)

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P2J (Function)

Function

Transforms position type data to joint type data.

Format

P2J (<Position type>)

Explanation

This statement transforms the data designated in <Position type> to joint type

data.

If the FIG value in the position type data is -1 (undetermined), transformation is

executed with the current figure. The value to be obtained reflects the tool and

work coordinate systems that are set at the moment.

Related Terms

J2P, J2T, P2T, T2J, T2P, CURFIG

Example

DEFJNT lj1, lj2

DIM lp1 As Point

lj1 = P2J(lp1) 'Assigns lp1 data transformed to joint

'type data using the current figure to lj1.

6-axis lj2 = P2J((0, 0, 90, 0, 0, 180))

'Assigns the data of (0, 0, 90, 0, 0, 180)

'transformed to joint type data using the

'current type to lj2.

4-axis lj2 = P2J((100, 100, 300, 45))

'Assigns the data of (100, 100, 300, 45)

'transformed to joint type data using the

'current type to lj2.

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Denso RC5 Spécifications Page 478

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