TRANS transformation function

V+ Language Reference Guide

TRANS transformation function

Syntax

TRANS (X_value, Y_value, Z_value, y_value, p_value, r_value)

Function

Return a transformation value computed from the given X, Y, Z position displacements and y, p, r orientation rotations.

Parameters

X_value

Y_value

Z_value
Optional expressions for the X, Y, and Z displacement components, respectively.

y_value

p_value

r_value
Optional expressions for the yaw, pitch, and roll orientation components, respectively.

NOTE: If any parameter is omitted, its value is taken to be zero.

Details

The input parameter values are used to compute a transformation value that can be assigned to a location variable or used in a compound transformation or motion request.

Examples

If r s the radius of a circle and angle is the angle of rotation about the circle, then the transformation:
TRANS(r*COS(angle), r*SIN(angle), 0, 0, 0, 0) 
yields points on that circle.

If frame is a transformation defining the position of the center of the circle and the plane in which it lies, the following program segment moves the robot tool point around the circle in steps of 1 degree.
FOR angle = 0 TO 360-1 	
    MOVE frame:TRANS(r*COS(angle), r*SIN(angle), 0, 0, 0, 0)
END 	
Related Keywords

DECOMPOSE program instruction

DX real-valued function

DY real-valued function

DZ real-valued function

#PPOINT precision-point function

SET program instruction

SHIFT transformation function

TRANSB transformation function