INVERSE transformation function INVERSE transformation function Syntax INVERSE (transformation) Function Return the transformation value that is the mathematical inverse of the given transformation value. Parameter transformation Transformation-valued expression. Details Mathematically, the value from this function is a transformation such that the value of the compound transformation shown below is the identity transformation (or NULL). INVERSE(trans):trans Stated another way, consider a transformation x that defines the location of object A relative to object B. Then INVERSE(x) is the transformation that defines the location of object B relative to A.
Example Consider the case where the location part_1 is known in robot coordinates, and you want to find the location hole_1 with respect to part_1. We can use the compound expression: part_1:hole_1 to represent the position of hole_1 in robot coordinates. Suppose we move the robot to hole_1 and use the HERE command to define hole_pos as the position of hole_1 in robot coordinates. In other words, we want to find hole_1, knowing the values of part_1 and hole_pos, and knowing that: part_1:hole_1 is equal to hole_pos We can then use the INVERSE function to determine hole_1 with the instruction:
SET hole_1 = INVERSE(part_1):hole_pos Note that the SET instruction can be used without explicit use of INVERSE by using a compound transformation on the left-hand side, with identical results. That is, the instruction defines hole_1. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 302