#PPOINT precision-point function

V+ Language Reference Guide, v17.x

#PPOINT precision- point function

Syntax

#PPOINT (j1_value, j2_value, j3_value, j4_value, j5_value, j6_value, j7_value, j8_value, j9_value, j10_value, j11_value, j12_value)

Function

Return a precision-point value composed from the given components.

Usage Considerations

The #PPOINT function name is considered to be a precision-point name. Thus, the # character must precede all uses of the function.

Parameters

j1_value Optional real-valued expressions for the respective robot joint positions. (If more values are specified than the number of robot joints, the extra values are ignored.)

j2_value

j3_value

...

j12_value

Details

Returns a precision-point value composed from the given components, which are the positions of the first through last robot joints, respectively.

A zero value is assumed for any parameter that is omitted.

Examples

Assume that you want to perform a coordinated motion of joints 2 and 3 of a robot with 4 joints, starting from its current location. The following program segment performs such a motion:
   HERE #ref                    ;Define current location 	
   DECOMPOSE x[] = #ref         ;Fill array with components
;Move to new precision point defined with modified components
   MOVE #PPOINT(x[0], x[1]+a, x[2]-a/2, x[3]) 	
The following steps lead to the same final location, but the robot joints are not moved simultaneously with this method.
   DRIVE 2, a, 100              ;Drive joint 2 	
   DRIVE 3, -a/2, 100           ;Drive joint 3 	
Related Keywords

DECOMPOSE program instruction

TRANS transformation function

j1_value	Optional real-valued expressions for the respective robot joint positions. (If more values are specified than the number of robot joints, the extra values are ignored.)
j2_value
j3_value
...
j12_value