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T2J (Function)
Function
Transforms homogeneous transformation type data to joint type data.
Format
T2J (<homogeneous transformation type>)
Explanation
This statement transforms the data designated in <Homogeneous
transformation type> to joint type data.
If “-1” (indefinite) is set in <Figure> in homogeneous transformation type data,
the data is transformed using the current robot figure.
The value to be obtained reflects the tool and work coordinate systems
selected at the moment.
Related Terms
J2P, J2T, P2J, P2T, T2P, CURFIG
Example
DEFJNT lj1, lj2, lj3
DEFTRN lt1, lt2
DIM li1 As Integer
lj1 = T2J(lt1) 'Assigns lt1 data transformed to joint type data
'using the current figure to lj1.
lj2 = T2J(lt2) 'Assigns lt2 data transformed to joint type data
'using the figure of 0 to lj2.
lj3 = T2J(350, 0, 450, 0, 1, 0, 0, 0, -1)
'Assigns the homogeneous transformation type data
'(350, 0, 450, 0, 1, 0, 0, 0, -1) transformed to
'joint type data using the figure value li1 to lj3.
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