15-30
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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