VAL_DefineJointPos
FUNCTION VAL_DefineJointPos : T_JointPos
This function might be used to initialize a joint position.It provides a way to have a more compact code. The following below
myJoint := VAL_DefineJointPos(10,-13.125,115.10,45.5,25.3,-90.25);
is equivalent to
myJoint.J1 := 10;
myJoint.J2 := -13.125;
myJoint.J3 := 115.10;
myJoint.J4 := 45.5;
myJoint.J5 := 25.3;
myJoint.J6 := -90.25;
Syntax
Definition:
FUNCTION VAL_DefineJointPos : T_JointPos
VAR_INPUT
J1 : REAL := 0;
J2 : REAL := 0;
J3 : REAL := 0;
J4 : REAL := 0;
J5 : REAL := 0;
J6 : REAL := 0;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
J1 |
REAL |
Coordinate for axis 1 |
|
J2 |
REAL |
Coordinate for axis 2 |
|
J3 |
REAL |
Coordinate for axis 3 |
|
J4 |
REAL |
Coordinate for axis 4 |
|
J5 |
REAL |
Coordinate for axis 5 - not applicable for 4 axis robots- |
|
J6 |
REAL |
Coordinate for axis 6 - not applicable for 4 axis robots- |
Return value