SOLVE.TRANS program instruction Details This instruction converts a set of joint positions to an equivalent transformation value using the geometric data of the robot connected to the system. The computed transformation represents the position and orientation of the end of the tool in the World coordinate system taking into consideration the current TOOL transformation and BASE offsets. Example The series of instructions below computes the position and orientation to which the robot is moved if its current location is altered by rotating joint #1 by 10 degrees:
HERE #cpos DECOMPOSE joints[1] = #cpos joints[1] = joints[1]+10 SOLVE.TRANS new.trans, error = joints[1] Related Keywords DECOMPOSE program instruction SELECT program instruction SELECT real-valued function SOLVE.ANGLES program instruction SOLVE.FLAGS real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 490